Methods and apparatus to provide visual information associated with welding operations

ABSTRACT

Methods and apparatus to provide visual information associated with welding operations are disclosed. An weld training system includes a display, a camera, a communications device, and a welding helmet. The communications device communicates with welding equipment. The welding helmet has a view port. The communications device is configured to hold the camera, the communications device, and the display such that, when the welding helmet is worn by a wearer, the display is viewable by the wearer, the camera has a view through the view port such that the display displays to the wearer images taken by the camera through the view port and displays a simulated object generated based on information received from the welding equipment via the communications device.

RELATED APPLICATIONS

This patent is a continuation of U.S. patent application Ser. No.15/061,336, filed Mar. 4, 2016, which claims priority to U.S.Provisional Patent Application Ser. No. 62/130,340, filed Mar. 9, 2015,and to U.S. Provisional Patent Application Ser. No. 62/143,243, filedApr. 6, 2015. The entireties of U.S. patent application Ser. No.15/061,336, Provisional Patent Application Ser. No. 62/130,340 and U.S.Provisional Patent Application Ser. No. 62/143,243 are incorporatedherein by reference.

BACKGROUND

Welding is a process that has increasingly become ubiquitous in allindustries. While such processes may be automated in certain contexts, alarge number of applications continue to exist for manual weldingoperations, the success of which relies heavily on the proper use of awelding gun or torch by a welding operator. For instance, improper torchangles (work and travel angles), contact tip-to-work distance, travelspeed, and aim are parameters that may dictate the quality of a weld.Even experienced welding operators, however, often have difficultymonitoring and maintaining these important parameters throughout weldingprocesses.

SUMMARY

Methods and systems are provided for networked high dynamic rangewelding vision system, substantially as illustrated by and described inconnection with at least one of the figures, as set forth morecompletely in the claims.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 shows an exemplary arc welding system in accordance with aspectsof this disclosure.

FIG. 2 shows example welding equipment in accordance with aspects ofthis disclosure.

FIGS. 3A, 3B, and 3C show example welding headwear and circuitry inaccordance with aspects of this disclosure.

FIGS. 4A, 4B, and 4C show another example welding headwear and circuitryof the in accordance with aspects of this disclosure.

FIGS. 5A-5C illustrate various parameters which may be determined fromimages of a weld in progress.

FIGS. 6A is a flowchart illustrating an example welding process usingheadwear embodying aspects of this disclosure.

FIGS. 6B-6G illustrate example interfaces that may be presented to aweld operator via a display to provide weld information to an operator.

FIGS. 7A is a flowchart illustrating an example welding process usingheadwear embodying aspects of this disclosure.

FIGS. 7B and 7C illustrate example interfaces that may be presented to aweld operator via a display to provide weld instructions to theoperator.

FIGS. 8A and 8B illustrate the use of a 3-D rendering generated bywelding headwear for enhancing an operator's view of a workpiece to bewelded.

FIG. 9A is a flowchart illustrating an example welding process toidentify a weld operation embodying aspects of this disclosure.

FIG. 9B is a flowchart illustrating an example welding process totransmit images during a weld operation.

FIG. 10 is a flowchart illustrating example machine readableinstructions which may be executed by a processor to generate a weldrecord for a welding process embodying aspects of this disclosure.

FIG. 11 is a block diagram of an example implementation of the server ofFIG. 1.

FIG. 12 is a flowchart illustrating example machine readableinstructions 1200 which may be executed by a processor to implement theserver of FIGS. 1 and/or 11 to store and/or display welding records ofwelding operations.

FIG. 13 is a flowchart illustrating example computer readableinstructions which may be executed to implement the example headwear ofFIGS. 3A-4B to provide weld operator training.

FIG. 14 is a flowchart illustrating example computer readableinstructions which may be executed to implement the example headwear ofFIGS. 3A-4B to focus and/or zoom an image sensor based on identifying alocation of a weld arc.

FIG. 15 is a flowchart representative of example machine readableinstructions which may be executed to implement the example headwear ofFIGS. 3A-4B to perform a pre-weld inspection of a weld scene.

FIG. 16 is a flowchart representative of example machine readableinstructions which may be executed to implement the example headwear ofFIGS. 3A-4B to perform a post-weld inspection of a weld scene.

FIG. 17 illustrates another example of the welding system in accordancewith aspects of this disclosure.

FIG. 18 illustrates another example welding headwear in accordance withaspects of this disclosure.

FIG. 19 is a flowchart illustrating a process for automatic exposurecontrol in accordance with aspects of this disclosure.

FIG. 20 is a state diagram illustrating example operation of weldingheadwear in accordance with aspects of this disclosure.

FIGS. 21A and 21B illustrate an example of capturing an image of a weldenvironment during a short circuit condition of a welding operation inaccordance with aspects of this disclosure.

FIG. 22 is a flowchart representative of example machine readableinstructions which may be executed to capture an image of a weldenvironment during a short circuit condition of a welding operation inaccordance with aspects of this disclosure.

DETAILED DESCRIPTION

Disclosed example methods to record a weld include capturing firstimages of a welding operation with an optical sensor, storing the firstimages in a memory in communication with the optical sensor andidentifying a transmission event corresponding to the welding operation.Disclosed example methods further include, in response to theidentifying of the transmission event: generating a record of thewelding operation using the first images; and transmitting the record ofthe welding operation to a weld system controller and data storage.

As used herein, the term welding operation includes both actual welds(e.g., resulting in joining, such as welding or brazing) of two or morephysical objects, an overlaying, texturing, and/or heat-treating of aphysical object, and/or a cut of a physical object) and simulated orvirtual welds (e.g., a visualization of a weld without a physical weldoccurring). As used herein, the term “wearable device” includes any formfactor that is designed or intended to be worn by a person (e.g.,personal protective equipment such as helmets, face guards, apparel, orthe like; personal devices such as head-mounted electronic devices,wrist mounted devices, body- mounted devices, devices worn around theneck, or the like), any form factor that, while not necessarily designedor intended to be worn by a person, may be adapted to be worn by aperson (e.g., smartphones, tablet computers, and/or other digitalprocessing devices).

Motivation for aspects of this disclosure includes production weld datamonitoring so that a production supervisor can monitor the productivityand quality of both automated and manual welding operations. Datamonitoring may comprise collecting data in welding equipment, sending itto the cloud, and retrieving by web browser. Such data may include, forexample, a video recording of welding operation which may be useful tofabrication shop supervisors, quality assurance (QA) or quality control(QC) personnel, maintenance personnel, training personnel, and/or thelike. In manual welding quality control, video recordings may, forexample, be valuable in Failure Mode and Effects Analysis (FMEA) in leanmanufacturing. Motivation for aspects of this disclosure also includeproviding weld operator training using vision equipment to observe how astudent positions and moves the torch while welding. Motivation foraspects of this disclosure also include provide support and service. If,for example, a welding expert is asked to help a human operator, it is achallenge to squeeze in two welding helmets for an observer to view thearc together with the operator due to physical constraints. It is also achallenge to view the arc at a remote location.

In some example methods, capturing the first images includes at leastone of: recording high dynamic range images, recording high dynamicrange video, recording wide dynamic resolution images, recording widedynamic resolution video, recording time-of-flight images, recordingthree-dimensional images with a structured light camera havingthree-dimensional depth perception, or recording images at a high framerate between 500 frames per second and 10,000 frames per second. In somesuch examples, capturing the first images includes using the opticalsensor with a logarithmic response.

In some disclosed example methods, identifying the transmission eventincludes receiving a transmission request from the weld controllerand/or detecting an end of the welding operation via the optical sensoror a second sensor. In some example methods, generating the recordincludes generating a video or set of images from the first images. Someexample methods include receiving a synchronization signal, determininga time stamp based on the synchronization signal, and associating thetime stamp with the record of the welding operation. In some examples,capturing the first images is in response to the synchronization signal.

Some example methods further include detecting a beginning of thewelding operation using the optical sensor or a second sensor, where thecapturing of the first images is in response to the detecting. In someexamples, the method is implemented in at least one of a mobilecommunications device or a welding helmet.

Some disclosed example methods to record a weld include capturing firstimages of a welding operation with an optical sensor on a head mounteddevice, storing the first images in a memory, and monitoring ameasurement of a welding parameter associated with the weldingoperation. Example methods also include, in response to identifying thatthe measurement of the welding parameter has satisfied a thresholdparameter value: recording subsequent second images with the opticalsensor, storing subsequent second images obtained via the optical sensorin the memory, and storing second measurements of the welding parameterin the memory, where the second measurements correspond to the secondimages, and generating a record of the welding operation by appendingthe first images to the second images and appending the secondmeasurements to the second images.

In some examples, the recording of the first images includes at leastone of: recording high dynamic range images, recording high dynamicrange video, recording wide dynamic resolution images, recording widedynamic resolution video, recording three-dimensional (3D) depth mapimages (e.g., by a time-of-flight (ToF) camera or structured light 3Dscanner), recording three-dimensional images with a structured lightcamera having three-dimensional depth perception, or recording images ata frame rate between 500 frames per second and-10,000 frames per second.In some example methods, the recording of the first images includesusing the optical sensor with a logarithmic response. In some examples,the memory includes a circular buffer (e.g., in a linked list), andstoring the first images in the memory includes replacing a first one ofthe first images with a second one of the first images in a first in,first out scheme.

Some example methods further include receiving the measurement of thewelding parameter via a communications interface. Some examples furtherinclude transmitting the record of the welding operation to a server.Some example methods include identifying that the welding operation hasbeen initiated, the recording of the first images being in response tothe identifying that the welding operation has been initiated. In somesuch examples, identifying that the welding operation has been initiatedincludes at least one of receiving a synchronization signal oridentifying an arc via the optical sensor or a second sensor.

Some example methods further include performing digital image processingto extract an image feature representing a characteristic of a weld madeduring the welding operation, comparing the characteristic to athreshold and, when the characteristic satisfies the threshold,displaying an alert on a display device indicating that thecharacteristic satisfies the threshold. In some example methods, thehead mounted device is a welding helmet including a wirelesscommunications device. The wireless communications device, such as asmartphone or tablet computer, may be detachably mounted to the weldinghelmet.

Disclosed example methods to direct a weld operator using a weldoperator personal protection equipment (PPE) include receivinginstruction information associated with a welding operation anddisplaying the instruction information via a display device of the PPE.Some example methods also include, after displaying the instructioninformation, receiving weld parameter, displaying the weld parameter viathe display device during the welding operation, detecting that thewelding operation is completed and, in response to the detecting thatthe welding operation is completed, presenting performance informationdescribing a characteristic of the welding operation via the displaydevice.

Some example methods also include performing digital image processing toextract an image feature representing a characteristic of a weld madeduring the welding operation and displaying information representativeof the characteristic via the display device. In some examples,performing the digital image processing and displaying the informationrepresentative of the characteristic is at least one of during thewelding operation or after the welding operation. Some example methodsfurther include requesting second instructions corresponding to a secondwelding operation in response to receiving a third instruction via auser interface of the PPE, and displaying the second instructions viathe display device. In some example methods, receiving the instructioninformation includes receiving the instruction information from at leastone of a wireless communication device or a system controller inresponse to transmitting a request for the instruction information via acommunications interface of the PPE.

Disclosed example apparatus to record a weld include an optical sensor,a storage device, a controller, and a processor. The optical sensorcaptures first images of a welding operation. The storage device storesthe first images. The processor identifies a transmission eventcorresponding to the welding operation, generates a record of thewelding operation using the first images in response to the identifyingof the transmission event, and transmits the record of the weldingoperation to a server.

In some example apparatus, the optical sensor is at least one of a highdynamic range image sensor, a wide dynamic range image sensor, atime-of-flight sensor, a structured light sensor, or an image sensorhaving a frame rate of at least 500-10,000 frames per second. Someexample apparatus further include a communications interface, where theprocessor identifies the transmission event based on at least one ofreceiving a transmission request from the server or detecting an end ofthe welding operation via the optical sensor or a second sensor.

Some example apparatus include a communications interface to receive asynchronization signal, where the processor captures the first images inresponse to the synchronization signal, and the processor furtherdetermines a time stamp based on the synchronization signal andassociates the time stamp with the record of the welding operation.

Disclosed head mounted devices include an optical sensor, a storagedevice, and a processor. The optical sensor captures first images of awelding operation. The storage device stores the first images. Theprocessor is in communication with the storage device and executesinstructions to: monitor a measurement of a welding parameter associatedwith the welding operation and, in response to identifying that themeasurement of the welding parameter has satisfied a threshold parametervalue, records subsequent second images with the optical sensor, storessubsequent second images obtained via the optical sensor in the storagedevice, and stores second measurements of the welding parameter in thestorage device, the second measurements corresponding to the secondimages. The processor also generates a record of the welding operationby appending the first images to the second images and appending thesecond measurements to the second images.

In some example head mounted devices, the optical sensor is at least oneof a high dynamic range image sensor, a wide dynamic range image sensor,a time-of-flight sensor, a structured light sensor, or an image sensorhaving a frame rate of at least 500-10,000 frames per second. In someexamples, the storage device includes a circular buffer, where thestorage device stores the first images in the memory by replacing afirst one of the first images with a second one of the first images in afirst in, first out scheme. Some example head mounted devices furtherinclude a communications interface to receive the measurement of thewelding parameter.

Some example head mounted devices further include a communicationsinterface to transmit the record of the welding operation to a server.In some examples, the processor identifies that the welding operationhas been initiated, and the optical sensor records the first images inresponse to the identifying that the welding operation has beeninitiated. In some examples, the processor identifies that the weldingoperation has been initiated by receiving a synchronization signaland/or identifying an arc via the optical sensor or a second sensor.

In some examples, the head mounted device further includes a displaydevice, and the processor performs digital image processing to extractan image feature representing a characteristic of a weld made during thewelding operation and compares the characteristic to a threshold,display an alert on the display device when the characteristic satisfiesthe threshold.

Disclosed example PPEs include a display device, a communicationsinterface, and a processor. The display device displays instructioninformation prior to a welding operation, displays the weld parametermeasurements during the welding operation, and displays performanceinformation describing a characteristic of the welding operation. Thecommunications interface receives the instruction information and toreceive the weld parameter measurements. The processor executesinstructions to detect a start of the welding operation, and detectsthat the welding operation is completed, and calculates the performanceinformation. The display device displays the weld parameter measurementsafter the start of the welding operation.

In some example PPEs, the processor performs digital image processing toextract an image feature representing a characteristic of a weld madeduring the welding operation, where the display device displaysinformation representative of the characteristic. Some examples furtherinclude a user interface to receive a third instruction, where theprocessor requests second instructions corresponding to a second weldingoperation in response to receiving the third instruction, and thedisplay device displays the second instructions.

To conserve power and/or reduce power consumption, disclosed examplesplace a video capture device in a sleep mode while the video capturedevice is not actively taking video. Photodiode sensitive to arc lightor low-power wireless protocols such as Zigbee may be used to signal thevideo capture device to wake up and begin capturing video, such as inresponse to a stimulus. For example, when in the sleep or low powermode, the video capture device ceases operations except for monitoringthe photodiode or Zigbee or other wireless radio to check for anincoming signal (e.g., from the welding equipment in communication withthe video capture device). If a signal to start recording video isreceived, the wireless radio monitor generates an interrupt and/orotherwise wakes up the main control circuit. Example signals mayindicate a trigger pull and/or a suspected weld anomaly (e.g., asuspected weld defect that is being formed).

In some examples, a wireless (e.g., Zigbee) coordinator inside thewelding equipment receives a notification of a trigger pull event andsends the signal to a wireless (e.g., Zigbee) node in a radio module ofthe helmet. In response, the wireless node activates a WiFi radio toenable transmission of media (e.g., video and/or audio) viahigher-bandwidth protocols such as UDP, TFTP, 1w1P, HTTP, and/or anyother protocol.

In some examples, the helmet provides the media to one or more cloudservers to store and/or process the media. In some examples, the helmetaccesses a fog network to store, process, measure and control the imagedata. The fog network may be implemented by one or more devices externalto the helmet via edge and/or peer-to-peer networking. In some examples,the helmet stores the media (e.g., video and/or audio) in a local flashmemory and/or other nonvolatile memory inside the helmet. The helmetfurther implements HTTP and/or FTP servers. In some examples, a smartphone within wireless communication proximity serves as an edge resourcefog network by executing an application, an HTTP client, and/or an FTPclient. The example smart phone accesses the media stored in the storagedevice of the helmet. In some examples, the smart phone providesstorage, processing, and/or analysis capacities. The weld equipmentand/or the smart phone can be edge resources for configuration, pooling,caching and security of videos and audios captured by the helmet.

In some examples, the helmet transmits live video captured by arecording device on the helmet to a smart phone and/or computing devicewithin wireless communication proximity using peer-to-peer networking(also referred to as point-to-point networking). The transmission ofvideo enables others to view the welding scene even when those people donot have the ability to directly view the weld scene (e.g., the weldarc) due to physical constraints in and/or surrounding the weld scene.In some examples, the helmet includes an RTSP server, and a smart phoneapp and/or computing device in communication with the helmet includes anRTSP client. The helmet RTSP server uses the Real-time TransportProtocol (RTP) in conjunction with Real-time Control Protocol (RTCP) formedia stream delivery.

In some examples, the helmet includes an EMI shield between a wirelessantenna and the helmet wearer's head to reduce exposure of the wearer'shead to the RF radiation.

In some examples, the helmet includes a camera to capture images and animage recognition processor to perform operator identification and/orauthorization. In some examples, the operator faces the helmet camera,and the welding system logs in the operator. For example, the weldingsystem may execute a facial recognition process to analyze the facialfeatures of the operator and compare the features with a database ofauthorized operators. In some examples, the database includescredentials for each operator to identify whether the operator isauthorized (e.g., qualified according to a current welder qualificationtest record (WQTR), and/or approved by a supervisor of the work) tooperate using the corresponding weld equipment and/or to operate aspecified weld task and/or type of weld task. Additionally oralternatively, the welding system may include image recognition featuresthat recognize a code on an identification card belonging to the welder.In response to identifying a welder in the database, the welding systemchecks the qualification record of the identified welder for presenceand/or expiration information.

In some examples, while wearing the camera equipped helmet, the operatormay look at the welding consumables such as gas and wire with markersuch as QR code in very large font for computer viewing at the distance(e.g., by positioning the helmet so that the item to be viewed by thecamera falls within the field of view of the helmet lens). The weldingsystem may perform image processing to identify and log in theconsumables for the weld job and/or check the identified consumablesagainst a weld procedure specification (WPS) for inconsistencies thatcould lead to weld defects. If such inconsistencies are identified, thewelding system may alert the operator and/or other people, and/ordisable the trigger on the weld torch.

In some examples, the camera on the helmet has auto-focuses on an activeweld operation. The camera may auto-focus by identifying locations offeatures representative of an arc (e.g., a brightest area in the scene)and focus on the area(s) immediately surrounding and/or adjacent thefeatures, which in some cases most likely include the joint and/or theelectrode. In some examples, the camera also may have optics providing alarge depth of field so that the camera is easily achieves focus on thedesired area(s).

In some examples, camera performs optical and/or digital imagestabilization. The helmet may include one or more inertial measurementunits (IMUs) such as multi-axis gyroscopes, multi-axis accelerometers,and/or multi-axis magnetometers to detect, encode, and/or measuremovement of the helmet (e.g., turning, vibration, traveling and shakingof the helmet as the wearer's head moves to follow the arc). Based onthe measured movement, the welding system compensates for the motion bymoving the lens and/or the imager using, for example, micro actuatorsand/or microelectromechanical systems (MEMS) such as piezoelectriccrystals. Additionally or alternatively, the welding system mayimplement electronic image stabilization (EIS). By using imagestabilization techniques, a welder training system, such as LiveArc®sold by Miller Electric™, can use helmet mounted cameras instead of orin addition to fixed-location cameras to extract torch motion dataand/or torch angularity data with respect to a welded joint. Such datais potentially beneficial for subsequent training of welders to weld onjoints that are difficult or impossible for cameras at a fixed location,such as 360 degree 5G position and/or 6G position pipe welding.Additionally or alternatively, a welding helmet may include sensors fora fixed-mount camera to track the motion of the helmet and use thehelmet position and/or orientation to transform the images captured bythe camera in the helmet.

Some example welding systems include a high dynamic range imager orimage sensor array (e.g., at least 120 dB of dynamic range) and/ornative wide dynamic range imager (e.g., at least 140 dB of dynamicrange) on the welding helmet. In other examples, a welding systemincludes a medium dynamic range (MDR) imager with at least 100 dB ofdynamic range to decrease the component costs of the helmet. One exampleMDR imager that may be used is model MT9V024, sold by ON Semiconductor®.

In some examples, a welding helmet further includes a light sourceoriented to illuminate the weld scene. The lighting can be an activelight source such as an LED array. To conserve battery power of thehelmet, the light source can be activated automatically when the camerais taking images and determines that additional lighting is beneficial(e.g., luminance received at the camera is less than a threshold).Additionally or alternatively, the active light source can be activatedand/or deactivated by an operator interface, such as a voice command.Additionally or alternatively, the helmet may be provided with passivelight sources such as a reflective exterior surface. Such a passivelight source may reflect light from the arc to illuminate the weldingscene.

Some example helmets further include an energy harvester such as solarcells that capture arc light photon energy. The energy harvester maycharge a battery for the controls circuit to operate the cameracircuitry, image processing, wireless devices and IMUs.

In some examples, the processor uses automatic gain control (AGC) tocontrol brightness based on the arc signals when processing capturedimages. AGC is also referred to as automatic exposure control orautomatic brightness control. When viewing a welding arc, sudden changesin scene brightness can create difficult viewing conditions. An AGCalgorithm chooses a brightness or exposure value between the brightestand darkest areas (e.g., approximately splitting the difference inbrightness) to attempt to enable visualization of the entire scene.However, AGC may not provide appropriate results when viewing a weldingscene where overexposure of the arc area may be tolerable butunderexposure of the joint and wire is not acceptable. Another problemwith AGC in welding is that the brightness changes rapidly, for example,from little light to extremely bright light during arc start and duringthe transition from short circuit to breaking out an arc. Whileconventional algorithms use an averaging scheme and/or gradual changesin the gain over dozens of frames, such algorithms result in a latencyin the digitally rendered images to the actual event of arc ignition andre-ignition.

Some disclosed example exposure controllers use arc signals from a powersupply or wire feeder (e.g., via a wired or wireless data connection) asa feed forward signal to adapt the exposure time for an optical sensorand/or image processing. Specifically, some examples use arc voltage todetermine the presence and absence of an arc in the scene. If the sensedarc voltage (e.g., excluding the welding cable voltage and electrodestickout voltage and contact voltage between wire and contact tip, etc.)is greater than 14V, the exposure controller determines that an arc ispresent and, in response, reduces the exposure to reveal the details ofthe dark areas such as joint and wire extension. The exposure controllermay also use more aggressive image compression ratios and/or digitalimage filters for the comparatively brighter scenes. In contrast, whenthe sensed arc voltage is less than 14V, the exposure controllerdetermines that the arc is absent and the scene is dark. In response todetermining that the arc is not present, the exposure controller useslonger exposures and less aggressive image compression ratios and/ordigital image filters.

In some examples, the exposure controller uses arc power in addition toor instead of the arc signal as a proxy for the brightness of the arc.For example, the exposure controller may use level of arc voltage or arccurrent (or the product of voltage and current which is the arc power)to predict the brightness of the scene, thus adjusting exposure andselecting corresponding image processing algorithms and theirparameters. Thus, example exposure controllers more effectively adapt toarc starts and/or stops, and/or when using welding processes where thearc brightness changes quickly (e.g., frequencies of 20 Hz to 250 Hz),such as in pulse welding and short circuiting welding.

Disclosed example weld training systems include a display, a camera, acommunications device to communicate with welding equipment, and awelding helmet having a view port. In disclosed example weld trainingsystems, the welding helmet holds the camera, the communications device,and the display such that, when the welding helmet is worn by a wearer,the display is viewable by the wearer, the camera has a view through theview port such that the display displays to the wearer images taken bythe camera through the view port and displays a simulated objectgenerated based on information received from the welding equipment viathe communications device. In some examples, the communications devicetransmits a command to welding equipment to cause the welding equipmentto operate in a training or simulation mode.

In some examples, the communications device receives a trigger signalidentifying a start of a simulated weld, the display to display thesimulated object in response to receiving the trigger signal. In someexample weld training systems the display, the camera, and thecommunications device are in a smartphone or tablet computer integral tothe welding helmet. In some examples, the display, the camera, and thecommunications device are in a smartphone or tablet computer integral tothe welding helmet. In some examples, the smartphone or tablet computercomprises a microphone and a processor. The processor recognizes a firstaudio command received via the microphone, begins a weld trainingoperation in response to receiving the audio command, includingdisplaying the images and the simulated object to the wearer via thedisplay. The processor recognizes a second audio command received viathe microphone and ends the weld training operation in response to thesecond audio command.

Some example weld training systems further include a processor toexecute software to provide weld training to the wearer. In someexamples, the processor renders at least one of a simulated weld arc, asimulated weld bead, or a simulated weld puddle as the simulated object.In some example weld training systems, the communications devicereceives welding parameters from the welding equipment. Some examplesfurther include a processor to process the images to extract a pluralityof welding conditions and render the simulated object based on thewelding parameters and based on the plurality of welding conditions,where the display superimposes the simulated object on the images with aposition and a perspective based on the images. In some such examples,the welding conditions include at least one of a contact-tip-to-workdistance, a workpiece gauge thickness, a workpiece fit-up, a torch aimwith respect to a joint seam, a torch travel angle, a torch work angle,or a torch travel speed. In some such examples, the simulated objectincludes at least one of a simulated weld arc, a simulated weld puddle,simulated spatter, simulated fumes, or a simulated weld bead. Someexamples further include a speaker to output at least one of a simulatedarc sound or a simulated gas flow sound. In some examples, the weldparameters comprise at least one of a voltage setpoint, an arc lengthsetpoint, a current setpoint, or a wire feed speed setpoint, or a weldprogram preset.

In some example weld training systems, the processor processes theimages to extract a characteristic of a weld scene and renders thesimulated object based further on the characteristic, where thecharacteristic includes at least one of a welding process type, a torchtype, a torch condition, a welding consumable type, a weld joint type, atack weld presence, a workpiece surface cleanliness, a weld fixturestate, or a weld clamp state.

In some example weld training systems, the communications device isconfigured to communicate with the weld equipment via wirelesscommunications. Some example weld training systems include a processorto measure a first characteristic of a weld scene by extracting andanalyzing features of the images, determine whether a difference betweenthe first characteristic and a second characteristic corresponds to anunacceptable weld condition and, when the difference corresponds to theunacceptable weld condition, output an alert via the display indicatingthat the weld scene has the unacceptable weld condition.

Some example weld training systems include a processor to analyze theimages to identify objects in the images and spatial relationshipsbetween the objects, render a graphic representative of the spatialrelationships, and superimpose the graphic over the images on thedisplay. In some examples, the communications device communicates withthe welding equipment to detect a start of a simulated weld operation oran end of the simulated weld operation, and the display to present thesimulated object in response to the start of the simulated weldingoperation or remove the simulated object in response to the end of thesimulated welding operation.

In some examples, the camera is a high dynamic range camera and theimages are high dynamic range images. In some examples, the camera is amedium dynamic range camera and the images are medium dynamic rangeimages. In some examples, the camera is a wide dynamic range camera andthe images are wide dynamic range images. In some examples, the imagesare video and/or still images.

Some example weld training systems further include a processor tocalibrate distance measurements for the images using a distancereference and measure a physical characteristic of an object present inthe images using the calibrated distance measurements. In some examples,the communications device transmits the images to an external computingdevice. In some examples, the display is to displays weld instructioninformation overlaid on the images.

Referring to FIG. 1, there is shown an example welding system 10 inwhich an operator 18 is wearing welding headwear 20 and welding aworkpiece 24 using a torch 22 to which power or fuel is delivered byequipment 12 via a conduit 14. The equipment 12 may comprise a power orfuel source, optionally a source of a shield gas and, where wire/fillermaterial is to be provided automatically, a wire feeder. The welding orcutting system 10 of FIG. 1 may be configured to form a weld joint byany known technique, including flame welding techniques such as oxy-fuelwelding and electric welding techniques such as shielded metal arcwelding (i.e., stick welding), metal inert gas welding (MIG), tungsteninert gas welding (TIG), and plasma cutting.

Optionally in any embodiment, the welding equipment 12 may be arcwelding equipment that provides a direct current (DC) or alternatingcurrent (AC) to a consumable or non-consumable electrode 16 (bettershown, for example, in FIG. 5C) of the torch 22. The electrode 16delivers the current to the point of welding on the workpiece 24. In thewelding system 10, the operator 18 controls the location and operationof the electrode 16 by manipulating the torch 22 and triggering thestarting and stopping of the current flow. When current is flowing, anarc 26 is developed between the electrode and the workpiece 24. Theconduit 14 and the electrode 16 thus deliver current and voltagesufficient to create the electric arc 26 between the electrode 16 andthe workpiece. The arc 26 locally melts the workpiece 24 and weldingwire or rod supplied to the weld joint 512 (the electrode 16 in the caseof a consumable electrode or an optionally separate wire or rod in thecase of a non-consumable electrode) at the point of welding betweenelectrode 16 and the workpiece 24, thereby forming a weld joint 512 whenthe metal cools.

As shown, and described more fully below, the equipment 12 and headwear20 may communicate via a link 25. Such communications may enable theheadwear 20 to control settings of the equipment 12 and/or the equipment12 to provide information about its settings to the headwear 20.Although a wireless link is shown, the link may be wireless, wired, oroptical.

The server 30 and headwear 20 may communicate directly or indirectly.For the former, the server 30 and headwear 20 may communicate via a link27. Indirect communications may comprise, for example, the headwear 20sending time-stamped images and/or other data to the equipment 12 vialink 25, where the equipment 12 combines the images and/or data withdata of its own and then relays the combined data to server 30 via link29. Similarly, the server 30 and equipment 12 may communicate directlyor indirectly. For the former, the server 30 and equipment 12 maycommunicate via a link 25. Indirect communications may comprise, forexample, the equipment 12 sending time-stamped data to the headwear 20via link 25, and the headwear 20 combining the data with images and/ordata it captures and then relaying the combined data to server 30 vialink 27. Another example is to reduce the real time data traffic on link25 during welding while maintaining the synchronization of videocaptured by the headwear 20 and the equipment 12. For example, upon atrigger pull by operator at 22, the equipment 12 sends a start synccommand to headwear 20 via link 25. Thereafter, the headwear 20 recordsvideo or images with timestamp initiated by the start sync command, andthe equipment 12 also records welding data initiated by the same startsync command independently of the headwear 20. Upon trigger release orcompletion of welding, the headwear 20 uploads the time-stamped video orimages to the server 30 via the communication link 27, and the equipmentuploads the time-stamped weld data to the server 30 via thecommunication link 29. The server 30 combines the video data and welddata together with a common timestamp that allows playback of both datain synchronization.

The links 25, 27, and 29 may use any suitable protocols such asBluetooth, Bluetooth Low Energy, WiFi, Zigbee, and/or the like.

The server 30 may be, for example, a local or remote/cloudworkstation(s) or server(s) in a data center. For example, the headwear20 may transmit images and/or other data (e.g., arc length, temperature,etc.) captured by the headwear 20 to the server 30 for real-timeinteraction (e.g., viewing, annotating etc.) and/or analysis (e.g.,parameters of the torch, workpiece, and/or arc). As another example, theheadwear 20 may transmit images and/or other data captured by theheadwear 20 to the server 30 for recording/storing for later interactionand/or analysis. As another example, the server 30 may transmitinformation (e.g., visual and/or audio instructions to adjust variousparameters) to the headwear 20 based on analysis of the image and/orother data received from the headwear 20. In an example implementationthe server 30 is a component of a welder training system where thewelding operator 18 motion is tracked by one or more externally-mountedcameras 32. During a training exercise, the operator 18 motion can becaptured together with the video captured by camera(s) of the headwear20 (e.g., camera(s) 414 of FIG. 4) for synchronized playback at theserver 30. One example use of server 30 is for the purpose of qualitycontrol. During production welding, the equipment 12 captures thewelding signals data while the headwear 20 captures video datarepresentative of what the operator sees. Both data are transmitted toserver 30. Due to the large storage demand of video data, server 30 maybe a remote server which may more conveniently provide large amounts ofstorage than a local server. When a defect is found, both the weldingsignal data and video data are retrieved from the remote server 30 forplayback and failure analysis. Although a wireless link is shown, thelink may be wireless, wired, or optical.

FIG. 2 shows example welding equipment in accordance with aspects ofthis disclosure. The equipment 12 of FIG. 2 comprises an antenna 202, acommunication port 204, communication interface circuitry 206, userinterface module 208, control circuitry 210, power supply circuitry 212,wire feeder module 214, and gas supply module 216.

The antenna 202 may be any type of antenna suited for the radiofrequencies, power levels, etc. used by the communication link 25.

The communication port 204 may comprise, for example, an Ethernet port,a USB port, an HDMI port, a fiber-optic communications port, and/or anyother suitable port for interfacing with a wired or optical cable.

The communication interface circuitry 206 is operable to interface thecontrol circuitry 210 to the antenna 202 and/or port 204 for transmitand receive operations. For transmit, the communication interface 206may receive data from the control circuitry 210 and packetize the dataand convert the data to physical layer signals in accordance withprotocols in use on the communication link 25. For receive, thecommunication interface may receive physical layer signals via theantenna 202 or port 204, recover data from the received physical layersignals (demodulate, decode, etc.), and provide the data to controlcircuitry 210.

The user interface module 208 may comprise electromechanical interfacecomponents (e.g., screen, speakers, microphone, buttons, touchscreen,gesture recognition etc.) and associated drive circuitry. The userinterface 208 may generate electrical signals in response to user input(e.g., screen touches, button presses, voice commands, gesturerecognition etc.). Driver circuitry of the user interface module 208 maycondition (e.g., amplify, digitize, etc.) the signals and provide themto the control circuitry 210. The user interface 208 may generateaudible, visual, and/or tactile output (e.g., via speakers, a display,and/or motors/actuators/servos/etc.) in response to signals from thecontrol circuitry 210.

The control circuitry 210 comprises circuitry (e.g., a microcontrollerand memory) operable to process data from the communication interface206, from the user interface 208, from the power supply 212, from thewire feeder 214, and/or from the gas supply 216. The control circuitry210 comprises circuitry (e.g., a microcontroller and memory) operable tooutput data and/or control signals to the communication interface 206,to the user interface 208, to the power supply 212, to the wire feeder214, and/or to the gas supply 216.

The power supply circuitry 212 comprises circuitry for generating powerto be delivered to a welding electrode via conduit 14. The power supplycircuitry 212 may comprise, for example, one or more switch mode powersupplies, buck converters, inverters, and/or the like. The voltageand/or current output by the power supply circuitry 212 may becontrolled by a control signal from the control circuitry 210. The powersupply circuitry 212 may also comprise circuitry for sensing andreporting the actual current and/or voltage feedback to the controlcircuitry 210. In an example implementation, the power supply circuitry212 may comprise circuitry for measuring the voltage and/or current onthe conduit 14 (at either or both ends of the conduit 14) such thatreported voltage and/or current is actual and not simply an expectedvalue based on calibration.

The wire feeder module 214 is configured to deliver a consumable wireelectrode 16 to the weld joint 512. The wire feeder 214 may comprise,for example, a spool for holding the wire, an wire feeder for pullingwire off the spool to deliver to the weld joint 512, and circuitry forcontrolling the rate at which the wire feeder delivers the wire. Thewire feeder may be controlled based on a control signal from the controlcircuitry 210. The wire feeder module 214 may also comprise circuitryfor reporting the actual wire speed and/or amount of wire remaining tothe control circuitry 210. In an example implementation, the wire feedermodule 214 may comprise circuitry and/or mechanical components formeasuring the wire speed, such that reported speed is actual speed andnot simply an expected value based on calibration.

The gas supply module 216 is configured to provide shielding gas viaconduit 14 for use during the welding process. The gas supply module 216may comprise an electrically controlled valve for controlling the gason/off. The valve may be controlled by a control signal from controlcircuitry 210 (which may be routed through the wire feeder 214 or comedirectly from the control circuitry 210 as indicated by the dashedline). The gas supply module 216 may also comprise circuitry forreporting the present gas flow rate to the control circuitry 210. In anexample implementation, the gas supply module 216 may comprise circuitryand/or mechanical components for measuring the gas flow rate such thatreported flow rate is actual and not simply an expected value based oncalibration.

FIGS. 3A, 3B, 3C, 4A, 4B, and 4C show example welding headwear 20 inaccordance with aspects of this disclosure. The example headwear 20 is ahelmet comprising a shell 306 in or to which are mounted: one or morecameras 414 comprising optical components 302, one or more display(s)304, 305, electromechanical user interface components 308, an antenna402, a communication port 404, a communication interface 406, userinterface driver circuitry 408, a central processing unit (CPU) 410,speaker driver circuitry 412, an image processor 416, graphicsprocessing unit (GPU) 418, display driver circuitry 420, sensor(s) 422,a power source 424, and a memory 426. The example memory 426 of FIG. 4stores machine-readable instructions 428 which may be executed by theprocessor 410 to implement the examples disclosed herein. In otherembodiments, rather than a helmet, the headwear may be, for example, amask, glasses, goggles, attachment for a mask, attachment for glasses,or attachment for goggles, etc. In other example implementations, thecamera(s) 414 may be mounted to a welding fixture, to a robot (e.g., adrone), welding torch (possibly with fiber optic delivered images)and/or any other place suited for capturing images and/or datainformation about a welding operation. The components of the headwear 20may reside on one or more printed circuit boards (PCBs) or flexcircuits. In the example shown merely as one illustration, the powersource 424, camera(s) 414, antenna 402, Port 404, display 304, controls308 are realized as subsystems (possibly comprising their own PCBs)apart from/coupled to the PCB 430 while the communications interface406, the user interface driver 408, the processor 410, the speakerdriver 412, the GPU 418, the display driver 420, and/or the memory 426reside on PCB 430.

Each set of optics 302 may comprise, for example, one or more lenses,filters, and/or other optical components for capturing electromagneticwaves in the spectrum ranging from, for example, infrared toultraviolet. In an example implementation, optics 302 a and 302 b fortwo cameras may be positioned approximately centered with the eyes of awearer of the headwear 20 to capture images (at any suitable frame rateranging from still photos to video at 30 fps, 100 fps, or higher) of thefield of view that a wearer of the headwear 20 would have if lookingthrough a lens. In some examples, multiple cameras capture stereoscopicimages. Stereoscopic systems calculate the dimensions of the field ofview based on the four corners of the image. For example, a stereoscopicsystem calculates the real-world coordinates of the image points basedon a pre-determined spacing between the cameras or optical sensors, andcalculates the real- world distance between the points.

In one example, the optical sensor 414 has a high dynamic range (HDR), amedium dynamic range, or a wide dynamic range (WDR) imaging array thathas logarithmic response at each pixel in a single frame time, with adynamic range exceeding 120 dB to >140 dB. Example techniques to captureimages of a weld scene using high dynamic range, wide dynamic range, andthe like, are disclosed in U.S. patent application Ser. No. 14/978,141,filed Dec. 22, 2015, and entitled “Automated Welding TranslationPlatform.” The entirety of U.S. patent application Ser. No. 14/978,141is incorporated herein by reference. The log response imager allowsviewing a typical arc high contrast welding scene with a mix of highintensity arc light and low light surroundings such as joint, weldpuddle, electrode extension etc. without saturating the sensor, andsuppresses the spatial-temporal light accommodation. The log responseimager is effective to auto-balance the exposure and view details suchas weld pool surface and a joint seam near the bright arc. The sensorscan be CMOS for visible wavelengths for example light reflected by thejoint, the contact tip, the electrode etc., or InGaAs for short waveinfrared wavelength for example emitted by solidifying weld pool. Theimager can be monochrome or color.

In yet another example, the optical sensor 414 can have imaging arraythat has multiple responses or exposure times at each pixel in a singleframe time to extend dynamic range for the high contrast problem ofviewing a welding scene. For example, the pixels associated with thebright arc could have a fraction of the exposure time than the pixels inthe surrounding scene so that the charging of the pixels is slowed downto avoid saturation.

In yet another example, the optical sensor 414 is a high speed camerawith frame rate exceeding 500 to 1000 frames per second or substantiallyfaster than the metal transfer and weld pool oscillation dynamics toavoid aliasing. In a preferred implementation, the camera has CMOS pixelarray with high photoresponsivity achieved by short picosecondintegration time, synchronous exposure, and high speed parallel readout, and other techniques. The preferred frame rate is at least 10× ofthe weld physics dynamics which is typically between 50 Hz to 250 Hz. Toreduce video file size, high frame rate image acquisition (such as 2KHz, 10 KHz or higher) can be done in burst mode at fixed intervals orupon sync trigger from the equipment 12 to capture specific metaldroplet transfer or weld pool oscillation event.

In yet another example, the optical sensor 414 is a ToF ranging depthcamera for 3D depth perception and to overcome the light intensitycontrast between bright arc light and dark surroundings. In preferredimplementation, the pulse-modulated illumination has a near infraredwavelength that is out of phase with the arc spectrum or to avoid thespectrum peaks of the arc light.

In yet another example, the optical sensor 414 is a structured light 3Dscanning camera with 3D depth perception and to overcome the lightintensity contrast between bright arc light and dark surroundings.Typically the frame rate is slow but could be sufficient for tasks suchas seam tracking with the operator's head being relatively still and/orwith motion sensors tracking and accounting for head movement.

In yet another example, the optical sensor 414 contains a combinedtechnology of the ones above, for example, a combined high dynamic rangeand high frame rate imaging, a stereo vision with two HDR imaging, acombined HDR imaging, and a ToF imaging.

The display 304 may comprise, for example, a LCD, LED, OLED, E-ink,near-eye light field display, and/or any other suitable type of displayoperable to convert electrical signals into optical signals viewable bya wearer of the headwear 20 and in some cases producing mediated realityincluding virtual reality and augmented reality. In the example of FIG.3A, the display 304 is integral to the headwear 20. In the example ofFIG. 3B, the display 304 is part of a mobile device (e.g., a smartphone,a tablet computer, etc.) that is mounted to an exterior or interior ofthe headwear 20, such as outside or inside of a lens 432 of the headwear20. In the example of FIG. 4A, the display 304 is a separate device thanthe headwear 20, and is worn underneath the headwear 20 such that thedisplay 304 is within the field of view of the headwear 20 (e.g., thefield of view of the lens 432 of the headwear 20).

The electromechanical user interface components 308 may comprise, forexample, one or more touchscreen elements, speakers, microphones,physical buttons, gesture control, EEG mind control, etc. that generateelectric signals in response to user input. For example,electromechanical user interface components 308 may comprise capacity,inductive, or resistive touchscreen sensors mounted on the back of thedisplay 304 (i.e., on the outside of the headwear 20) that enable awearer of the headwear 20 to interact with user graphics displayed onthe front of the display 304 (i.e., on the inside of the headwear 20).

The antenna 402 may be any type of antenna suited for the radiofrequencies, power levels, etc. used by the communication link 25.

The communication port 404 may comprise, for example, an Ethernet, a USBport, an HDMI port, a fiber-optic communications port, and/or any othersuitable port for interfacing with a wired or optical cable.

The communication interface circuitry 406 is operable to interface theprocessor 410 to the antenna 202 and port 204 for transmit and receiveoperations. For transmit operations, the communication interface 406 mayreceive data from the processor 410 and packetize the data and convertthe data to physical layer signals in accordance with protocols in useon the communication link 25. The data to be transmitted may comprise,for example, control signals for controlling the equipment 12. Forreceive operations, the communication interface may receive physicallayer signals via the antenna 202 or port 204, recover data from thereceived physical layer signals (demodulate, decode, etc.), and providethe data to processor 410. The received data may comprise, for example,indications of present settings and/or actual measured output of theequipment 12. For electric welding this may comprise, for example,voltage, amperage, and/or wire speed settings and/or measurements. Forflame welding this may comprise, for example, gas flow rate and/or gasmixture ratio settings and/or measurements.

In some examples, the communications interface 406 includes a wireless(e.g., Zigbee) coordinator that receives a notification of a triggerpull event and sends the signal to the processor 410 (e.g., a wirelessnode). In response, the processor 410 enables a WiFi radio of thecommunications interface to enable transmission of media (e.g., videoand/or audio) via higher-bandwidth protocols such as FTP, HTTP, and/orany other protocol.

In some examples, the headwear 20 (e.g., via the processor 410 and thecommunications interface 406) provide media (e.g., video, audio, weldingdata) to one or more cloud servers to store and/or process the media. Insome examples, the headwear 20 accesses a fog network to store, process,measure and control the image data. The fog network may be implementedby one or more devices external to the headwear 20 via edge and/orpeer-to-peer networking. In some examples, the headwear 20 stores themedia in a local flash memory and/or other nonvolatile memory inside thehelmet (e.g., in the memory 426). The headwear 20 may implement HTTPand/or FTP servers to enable data transfer. In some examples, a smartphone within wireless communication proximity serves as an edge resourcefog network by executing an application, an HTTP client, and/or an FTPclient. The example smart phone accesses the media stored in the storagedevice of the headwear 20. In some examples, the smart phone providesstorage, processing, and/or analysis capacities. The weld equipmentand/or the smart phone can be edge resources for configuration, pooling,caching and security of videos and audios captured by the headwear 20.

In some examples, the headwear 20 transmits live video captured by thecamera 414 on the headwear 20 to a smart phone and/or computing devicewithin wireless communication proximity using peer-to-peer networking(also referred to as point-to-point networking). The transmission ofvideo enables others to view the welding scene even when those people donot have the ability to directly view the weld scene (e.g., the weldarc) due to physical constraints in and/or surrounding the weld scene.In some examples, the headwear 20 includes an RTSP server, and a smartphone app and/or computing device in communication with the helmetincludes an RTSP client. The headwear 20 RTSP server uses the Real-timeTransport Protocol (RTP) in conjunction with Real-time Control Protocol(RTCP) for media stream delivery.

The user interface driver circuitry 408 is operable to condition (e.g.,amplify, digitize, etc.) signals from the user interface component(s)308.

The processor 410 is operable to process data from the communicationinterface 406, the user interface driver 408, the image processor 416,and the GPU 418, and to generate control and/or data signals to beoutput to the speaker driver circuitry 412, the GPU 418, and thecommunication interface 406. Signals output to the communicationinterface 406 may comprise, for example, signals to control settings ofequipment 12. Such signals may be generated based on signals from theGPU 418 and/or the user interface driver 408. Signals from thecommunication interface 406 may comprise, for example, indications(received via link 25) of present settings and/or actual measured outputof the equipment 12. Signals to the GPU 418 may comprise, for example,signals to control graphical elements of a user interface presented ondisplay 304. Signals from the GPU 418 may comprise, for example,information determined based on analysis of pixel data captured bycameras 414.

The speaker driver circuitry 412 is operable to condition (e.g., convertto analog, amplify, etc.) signals from the processor 410 for output toone or more speakers of the user interface components 308. Such signalsmay, for example, carry audio to alert a wearer of the headwear 20 thata welding parameter is out of tolerance, that a weld is being performedout of sequence, to provide audio instructions to the wearer of theheadwear 20, etc.

The one or more cameras 414 are operable to capture images of thephysical environment surrounding the headwear 20. The camera(s) 414 maybe operable to capture electromagnetic waves of any suitablewavelength(s) from, for example, infrared to ultraviolet. In an exampleimplementation, there may be two cameras 414 for capturing stereoscopicimages from which 3D positioning information can be obtained throughprocessing of the captured images. In an example implementation, thecamera(s) 414 may each comprise one or more high dynamic range imagesensors (e.g., ˜140 dB or more of dynamic range) such that a viewer ofthe image can simultaneously see the weld arc and the workpiece. Inanother example implementation, images from multiple image sensors maybe combined (e.g., by the GPU 418 as discussed below) to generatecomposite image having higher dynamic range than is supported by any ofthe image sensors alone. In one example, the optical sensor 414 andoptics 302 assembly is mounted behind the display 304. In anotherexample, the optical sensor 414 and optical components 302 assembly ismounted outside the display 304.

In some examples, the image processor 416 includes an image recognitionprocessor to perform operator identification and/or authorization. Toperform operator identification/authorization, the operator faces thehelmet camera, the image processor 416 executes a facial recognitionprocess to analyze the facial features of the operator and compare thefeatures with a database of authorized operators. In some examples, thedatabase includes credentials for each operator to identify whether theoperator is authorized (e.g., qualified, approved) to operate using thecorresponding weld equipment and/or to operate a specified weld taskand/or type of weld task. Additionally or alternatively, the imageprocessor 416 may include image recognition features that recognize acode on an identification card belonging to the welder. In response toidentifying a welder in the database, the welding system checks thequalification record of the identified welder for presence and/orexpiration information.

In some examples, while wearing the camera equipped helmet, the operatormay look at the welding consumables such as gas and wire (e.g., bypositioning the helmet so that the item to be viewed by the camera fallswithin the field of view of the helmet lens). The image processor 416may perform image processing to identify and log in the consumables forthe weld job and/or check the identified consumables against a WPS forinconsistencies that could lead to weld defects. If such inconsistenciesare identified, the headwear 20 alerts the operator (e.g., via thedisplay 304 and/or the speaker driver 412) and/or other people (e.g.,via the communications interface 406), and/or disable the trigger on theweld torch.

In some examples, the image processor 416 causes the camera(s) 414 toauto-focus on an active weld operation. The image processor 416 maycontrol the auto-focus by identifying locations of featuresrepresentative of an arc (e.g., a brightest area in the scene) andinstructing the camera 414 to focus on the area(s) immediatelysurrounding and/or adjacent the features, which in some cases mostlikely include the joint and/or the electrode. In some examples, thecamera 414 also may have optics providing a large depth of field so thatthe camera is easily achieves focus on the desired area(s).

In some examples, the image processor 416 controls the camera 414 toperform optical and/or digital image stabilization. The sensors 422 mayinclude one or more inertial measurement units (IMUs) such as multi-axisgyroscopes, multi-axis accelerometers, and/or multi-axis magnetometersto detect, encode, and/or measure movement of the helmet (e.g., turning,vibration, traveling and shaking of the helmet as the wearer's headmoves to follow the arc). Based on the measured movement, the imageprocessor 416 compensates for the motion by moving the lens and/or theimager using, for example, micro actuators and/or microelectromechanicalsystems (MEMS) such as piezoelectric crystals. Additionally oralternatively, the image processor 416 may implement electronic imagestabilization (EIS). By using image stabilization techniques, a weldertraining system, such as LiveArc® sold by Miller ElectricTM, can usehelmet mounted cameras instead of or in addition to fixed-locationcameras to extract torch motion data and/or torch angularity data withrespect to a welded joint. Such data is potentially beneficial forsubsequent training of welders to weld on joints that are difficult orimpossible for cameras at a fixed location, such as 360 degree 5Gposition and/or 6G position pipe welding. Additionally or alternatively,the sensors 422 may include sensors for a fixed-mount camera to trackthe motion of the helmet and use the helmet position and/or orientationto transform the images captured by the camera 414 in the helmet.

Some example cameras 414 include a high dynamic range imager or imagesensor array (e.g., at least 120 dB of dynamic range) and/or native widedynamic range imager (e.g., at least 140 dB of dynamic range) on theheadwear 20. In other examples, a welding system includes a mediumdynamic range (MDR) imager with at least 100 dB of dynamic range todecrease the component costs of the helmet. One example MDR imager thatmay be used is model MT9V024, sold by ON Semiconductor®.

In some examples, the headwear 20 further includes a light sourceoriented to illuminate the weld scene. The lighting can be an activelight source such as an LED array. To conserve battery power of theheadwear 20, the light source can be activated automatically when thecamera 414 is taking images and determines that additional lighting isbeneficial (e.g., luminance received at the camera 414 is less than athreshold). Additionally or alternatively, the active light source canbe activated and/or deactivated by an operator interface, such as avoice command. Additionally or alternatively, the headwear 20 may beprovided with passive light sources such as a reflective exteriorsurface. Such a passive light source may reflect energy from the arc toilluminate the welding scene.

The image processor 416 includes an exposure controller that receivesarc signals from a power supply or wire feeder (e.g., via a wired orwireless data connection such as the communications interface 406) as afeed forward signal to adapt the exposure time for an optical sensorand/or image processing. Specifically, the image processor 416 may usearc voltage to determine the presence and absence of an arc in thescene. If the sensed arc voltage (e.g., excluding the welding cablevoltage and/or electrode stickout voltage) is greater than 14V, theimage processor 416 determines that an arc is present and, in response,reduces the exposure to reveal the details of the dark areas such asjoint and wire extension. The image processor 416 may also use moreaggressive image compression ratios and/or digital image filters for thecomparatively brighter scenes. In contrast, when the sensed arc voltageis less than 14V, the image processor 416 determines that the arc isabsent and the scene is dark. In response to determining that the arc isnot present, the image processor 416 uses longer exposures and lessaggressive image compression ratios and/or digital image filters.

In some examples, the image processor 416 uses arc power in addition toor instead of the arc signal as a proxy for the brightness of the arc.For example, the image processor 416 may use level of arc voltage or arccurrent (or the product of voltage and current which is the arc power)to predict the brightness of the scene, thus adjusting exposure andselecting corresponding image processing algorithms and theirparameters. Thus, the image processor 416 more effectively adapts to arcstarts and/or stops, and/or when using welding processes where the arcbrightness changes quickly (e.g., frequencies of 20 Hz to 250 Hz), suchas in pulse welding and short circuiting welding.

The graphics processing unit (GPU) 418 is operable to receive andprocess pixel data (e.g., of stereoscopic or two-dimensional images)from the camera(s) 414, to output one or more signals to the processor410, and to output pixel data to the display 304. As mentioned above,processing of the pixel data from camera(s) 414 may comprise combiningan image from a first optical sensor 414 or image sensor with an imagefrom a second optical sensor 414 or image sensor to obtain a resultingcomposite image which has higher dynamic range than either the of thefirst second images alone. The processing performed by GPU 418 maycomprise compressing images to reduce the necessary bandwidth fortransmitting them and/or the necessary memory for storing them.

The processing of pixel data by the GPU 418 may comprise, for example,analyzing the pixel data to determine, in real-time (e.g., with latencyless than 100 milliseconds or, more preferably, less than 20milliseconds, or more preferably still, less than 5 milliseconds), oneor more of the following: name, size, part number, type of metal, orother characteristics of the workpiece 24; name, size, part number, typeof metal, or other characteristics of the electrode 16 and/or fillermaterial; type or geometry of joint 512 to be welded; 2-D or 3-Dposition of items (e.g., electrode, workpiece, etc.) in the capturedfield of view, one or more weld parameters (e.g., such as thosedescribed below with reference to FIG. 5) for an in-progress weld in thefield of view; measurements of one or more items in the field of view(e.g., size of a joint or workpiece being welded, size of a bead formedduring the weld, size of a weld puddle formed during the weld, and/orthe like); and/or any other information which may be gleaned from thepixel data and which may be helpful in achieving a better weld, trainingthe operator, calibrating the system 10, etc.

In one example, the components in FIG. 4A are contained in a smartphone,such as an iPhone or Android phone, including the optical sensor 414. Insuch an example, headwear 20 has a holder to secure and house asmartphone or a tablet with camera and WIFI, with (for example) onesmartphone camera facing the same direction as the wearer of the helmetwith transparent opening in helmet to allow smartphone camera to viewthe welding scene. The phone may be positioned such that the lens 432 isin front of the smartphone camera (could be the same one used for thewearer's eyes). In some examples, the lens 432 may be omitted becausethe smartphone protects the wearer's eyes from the arc.

In an example implementation, the processor 410 receives synchronizingsignal(s) which trigger the optical sensor 414 to start and/or stopvideo recording. In some examples, the optical sensor 414 is in asmartphone, and an “app” (application) may be running on the smartphoneto receive the synchronizing signal and control the optical sensor 414.The synchronizing signal may be generated by circuitry of the headwear20 or by circuitry external to the headwear 20. The synchronizing signalmay, for example, be: generated by circuitry of the equipment 12 andreceived via antenna 402; generated by sensor(s) 422 (e.g., a passive IRsensor or photodiode) and communicated to the optical sensor 414 via awired or wireless interface between the optical sensor 414 and sensor(s)422; be generated by a smartphone (which may be mounted to/within thehelmet); or the like. The synchronizing signal may, for example, be inresponse to: the pull of the gun trigger; a change in the output of aphotodiode which captures light intensity of the environment; detection,using image processing algorithms, of a welding arc in an image capturedby optical sensor 414; and/or any other suitable stimulus.

The synchronizing signal may be, for example, arc data (volts, amps,wire speed etc.) associated welding video that can besuperimposed/overlaid to the video recorded by the app textually orgraphically. The welding equipment 12 can be a welding power source, awelding torch, a wire feeder, a communications module in the weldingcell, a robot, a user interface module, etc. The video can beautomatically uploaded to the cloud after the weld is complete. Or thevideo is transmitted live using a peer-to-peer video service, a hostedvideo service, and/or a livestream service to be viewed at a remotelocation and/or locally via a tablet/smartphone connected to the sameservice as a viewer. The signal can also be instructions from anotherperson viewing the streaming video, either audio command or visualinstructions. The remote server or app does digital image processing andmakes some measurement of the welding process (arc length, wireplacement, weld pool size, etc.) and/or weld results (weld size, weldpattern, weld length, etc.). The smartphone could have split screen,such as one screen positioned in front of each of the operator's eyes,to create a stereoscopic vision effect. The smartphone could also havenear-eye augmented reality display technology disclosed such as in theU.S. Pat. No. 8,957,835. The app can automatically detect the brightnessand adjusts accordingly when using the filter. The app can have variableset points for darkness, recording, still shots, audible feedback. Theapp can receive inputs, such as from an accelerometer and/or agyroscope, to sense head motion and compensate for motion, audibleinput, or other remote input. The app and filter can be usedindependently of a helmet or headset (hand-held, bench mount, stands,etc.). In virtual reality mode, the smartphone app can simulate arc andweld. When used with other sensors, the virtual reality app may be usedfor operator training as described below.

In an example implementation, a VR training app executes on a smartphoneor a tablet housed inside or outside a helmet, providing a softwareoperator training system using their existing welding equipment and asmartphone or tablet device. As a result, specialized weld trainingequipment is not needed, and any welding equipment can be converted intoa training tool.

In some examples, the app can enable an operator to practice welding ona real workpiece to be welded instead of on a simulated or laboratorysetting. The operator puts down a calibration or marker tape or stripwith computer-readable glyph symbols onto the weld scene (e.g., on theworkpiece or weldment and/or torch body). The markers could be a highcontrast glyph symbols of localization code or pattern. Alternativelyspeckle patterns can be etched into the workpiece for localization. Theapp identifies the localization codes with a camera equipped on thedevice executing the app to calibrate the scene objects in theimages/videos against real world unit of distance. Using the calibrateddistance determined from the markers, the app measures the weld tool(torch) movement such as travel speed.

In an example sequence, the operator configures real welding equipment(e.g., sets parameters) and prepares the welding equipment for actualwelding, without configuring the welding equipment in simulation mode.The operator pulls the trigger. The VR app in the smartphone or tablettakes real-time images, performs image processing including objectrecognition and renders reconstructed scene images based on the capturedimages, and superimposes virtual objects into the scene images. Examplevirtual objects include a virtual arc, a virtual weld pool, virtualspatter and/or splatter, a virtual wire feed, and/or a virtual weldbead. As the weld parameters are changed or the torch manipulation ischanged, and/or head pose, helmet position, and/or helmet orientationare changed, the corresponding reconstructed objects in the real scene,together with virtual arc, virtual pool, and/or virtual weld beadanimation also change accordingly based on models of behavior of the arcphysics and thermodynamic models. In some cases, the app is equippedwith simpler versions of such models to enable adequate performance suchas response time. Additionally or alternatively, the app transmits datato a remote server for execution of the models and receives the resultsvia the communications interface.

Instead of using localization markers, in some examples an IMU insidethe torch provides position data, which the app uses to determine thetorch travel speed and to render the virtual pool and weld bead shape.Example techniques to determine the torch travel speed using an IMU aredescribed in U.S. patent application Ser. No. 15/004,801, filed Jan. 22,2016, entitled “Manual Tool Tracking and Guidance with InertialMeasurement Unit.” The entirety of U.S. patent application Ser. No.15/004,801 is incorporated herein by reference. In some other examples,the smartphone may be equipped with an infrared accessory, such as aninfrared (IR) sensing camera to measure torch travel speed. The IRsensing camera may receive IR light from an IR illuminator and/or IRreflectors arranged on the torch body to capture torch motion. Tocompensate for head movement, IR reflectors may be placed on one or morestationary objects, such as weld fixtures, to calibrate and/or transformthe images captured from a moving camera. The stationary IR reflectorsmay have a different shape than the reflectors on the torch or differentwavelength may be used to distinguish torch from stationary markers orscene anchors. While some examples use a smartphone/tablet to identifytorch speed, in some other examples IR detection and processingcircuit(s) are separately packaged (e.g., on a circuit board containingIR cameras, optics, sensors and computing hardware and software) totrack torch movement, orientation and/or speed. The example IR detectionand processing circuit(s) provide the movement, orientation and/or speedinformation to the smartphone or tablet for use in generating weldrecords and/or displaying data to the operator. Example markers (e.g.,IR reflectors) are described below with reference to FIG. 6F.

The smartphone or tablet may receive wireless (e.g., Bluetooth)synchronization signals from the welding equipment to start and/or endthe VR simulation and welding parameters set by operators on thephysical weld equipment. Additionally or alternatively, the smartphonemay receive and process voice commands from the operator to performoperations while the smartphone is mounted inside a helmet or otherwiseunreachable by the finger touch. The smartphone/tablet may displaywelding results or a summary ( ) of torch movement (e.g., heat input,bead width, penetration, travel speed, torch angles, etc.) after thewelding is complete.

Parameters determined from the image processing may be compared againsta weld procedure specification WPS for the weld being performed. Ifthere is a deviation from the WPS beyond a determined tolerance window,an alert (e.g., visual, audible, and/or tactile) may be generated. Forexample, the image processing may measure the weld width and lengthwhich the processor 410 may then compare with the WPS. As anotherexample, the image processing may perform seam tracking to track thejoint and measure wire placement relative to the joint and the processor410 may compare this measurement to the WPS and alert the operator ifthe wire is departing from the joint more than a determined tolerance.The image processing to determine the various parameters may take intoaccount, and be aided by, a priori knowledge of the welding job such asthe dimensions of the workpiece, wire size, type of gas, etc.

The information output from the GPU 418 to the processor 410 maycomprise the information determined from the pixel analysis.

The pixel data output from the GPU 418 to the display 304 may provide amediated reality view for the wearer of the headwear 20. In such a view,the wearer experiences the video presented on the display 304 as if s/heis looking through a lens, but with the image enhanced and/orsupplemented by an on-screen display. The enhancements (e.g., adjustcontrast, brightness, saturation, sharpness, etc.) may enable the wearerof the headwear 20 to see things s/he could not see with simply a lens.The on-screen display may comprise text, graphics, etc. overlaid on thevideo to provide visualizations of equipment settings received from theprocessor 410 and/or visualizations of information determined from theanalysis of the pixel data.

The display driver circuitry 420 is operable to generate control signals(e.g., bias and timing signals) for the display 304 and to condition(e.g., level control synchronize, packetize, format, etc.) pixel datafrom the GPU 418 for conveyance to the display 304.

The sensor(s) 422 may comprise, for example, infrared and/or ultrasonicsensors, accelerometers, gyroscopes, and/or the like. The sensor(s) 422may, for example, be operable to track head movement of the weldoperator.

The power source 224 may comprise, for example, a battery (e.g., alithium ion or sodium ion or lithium polymer or dual carbon battery),circuitry for charging the battery from an AC and/or DC power source,and circuitry for conditioning/delivering energy from the battery to theother circuitry of the headwear 20.

FIG. 4C is another example perspective of the headwear 20. Theperspective illustrated in FIG. 4C shows a viewpoint from inside theshell 306 (e.g., from an wearer's perspective). As shown in FIG. 4C, thedisplay 304 (e.g., a smartphone) is mounted in a field of view of theshell 306 such that a camera on the rear of the smartphone has a view ofa weld scene 434.

The example weld scene 434 of FIG. 4C includes the workpiece 24 and thetorch 22. In the weld scene 434, the torch 22 is not operating (e.g., noweld is occurring in the weld scene 434). As described in more detailbelow, the display 304 may be controlled to display the weld scene 434with one or more simulated objects overlaid on the scene observed by thecamera 414. As illustrated in FIG. 4C, the display 304 may show asimulated weld bead 436, a simulated weld puddle 438, and/or a simulatedarc 440 in addition to the workpiece 24 and the torch 22 that areactually present in the weld scene 434. The field of view is illustratedby view lines 442 that show the outside of the field of view of thecamera 414 of the smartphone mounted in the shell 306.

The example smartphone of FIG. 4C is mounted inside the welding helmet(e.g., the shell 306) using clips 444 that hold the smartphone suchthat, when the mobile device is held by the welding helmet and thewelding helmet is worn by a wearer, the display 304 of the smartphone isviewable by the wearer, the camera of the smartphone has a view throughthe view port (e.g., through the lens 432) such that the display 304 ofthe smartphone provides a field of view of the wearer that correspondsto a field of view of the wearer through the view port. While 4 clips444 are shown in FIG. 4C, more or fewer clips may be used. Additionallyor alternatively, any other structure may be used to detachably mountthe smartphone inside of the welding helmet, such as one or more of:arm(s), band(s), belt(s), case(s), slot(s), container(s), cover(s),enclosure(s), frame(s), jacket(s), member(s), platform(s), rib(s),ring(s), compression device(s), friction device(s), cable(s), hook(s),nut/bolt(s), adhesive(s), bracket(s), and/or any other type ofstructure, fastener, and/or mounting device.

While example implementations of the headwear 20 are described withreference to FIGS. 3A, 3B, 3C, 4A, 4B, and 4C other implementations maybe used. For example, any of the example antenna 402, the example port404, the example communications interface 406, the example userinterface driver 408, the example processor 410, the example speakerdriver 412, the example camera(s) 414, the example image processor 416,the example GPU 418, the example display driver 420, the examplesensor(s) 422, the example power source 424, the example memory 426,and/or the example instructions 428 may be implemented using hardware,software, firmware, and/or any combination of hardware, software, and/orfirmware. For example, the example antenna 402, the example port 404,the example communications interface 406, the example user interfacedriver 408, the example processor 410, the example speaker driver 412,the example camera(s) 414, the example image processor 416, the exampleGPU 418, the example display driver 420, the example sensor(s) 422, theexample power source 424, the example memory 426, and/or the exampleinstructions 428 may be implemented using one or more integratedcircuits and/or discrete circuits, such as general purpose processors,special purpose processors (e.g., digital signal processors),programmable logic devices. Furthermore, implementations may includecombinations of components and/or functions into single integratedcircuit packages and/or divisions of components and/or functions intomultiple integrated circuit packages.

FIGS. 5A-5C illustrate various parameters which may be determined fromimages of a weld in progress. Coordinate axes are shown for reference.In FIG. 5A, the Z axis points to the top of the paper, the X axis pointsto the right, and the Y axis points into the paper. In FIGS. 5B and 5C,the Z axis points to the top of the paper, the Y axis points to theright, and the X axis points into the paper.

In FIGS. 5A-5C, the equipment 12 comprises a MIG gun 504 (e.g., animplementation of the torch 22 of FIG. 1) that feeds a consumableelectrode 16 to a weld joint 512 of the workpiece 24. During the weldingoperation, a position of the MIG gun 504 may be defined by parametersincluding: contact tip-to-work distance 506 or 507, a travel angle 502,a work angle 508, a travel speed 510, and aim.

Contact tip-to-work distance may include the vertical distance 506 froma tip of the torch 22 to the workpiece 24 as illustrated in FIG. 5A. Inother embodiments, the contact tip-to-work distance may be the distance507 from the tip of the torch 22 to the workpiece 24 at the angle of thetorch 22 to the workpiece 24).

The travel angle 502 is the angle of the gun 504 and/or electrode 16along the axis of travel (X axis in the example shown in FIGS. 5A-5C).

The work angle 508 is the angle of the gun 504 and/or electrode 16perpendicular to the axis of travel (Y axis in the example shown inFIGS. 5A-5C).

The travel speed is the speed at which the gun 504 and/or electrode 16moves along the joint 512 being welded. In an example implementation,image processing may be used to determine travel speed. For example,weld pool size and shape (e.g., tear, oval, etc.) and/or otherstationary features in the welding scene (e.g., a bump or scratch on theworkpiece) may be used in image processing algorithms to infer thetravel speed (similar to an optical mouse). In an exampleimplementation, weld bead striation of Miller Electric's Profile Pulse(e.g., altering wire speed and/or power and heat input) may be usedalong with image processing algorithms to infer travel speed in thewelding scene.

The aim is a measure of the position of the electrode 16 with respect tothe joint 512 to be welded. Aim may be measured, for example, asdistance from the center of the joint 512 in a direction perpendicularto the direction of travel. FIG. 5C, for example, depicts an example aimmeasurement 516.

FIGS. 6A-6E illustrate an example welding process using headwearembodying aspects of this disclosure.

The process begins with block 652, in which one or more welds to beperformed are determined by the headwear 20. The determination may bebased on an identifier (e.g., a work order number, a part number, etc.)entered by a wearer of the headwear 20 through, for example, voicerecognition and/or tactile input. Alternatively, or additionally, thewearer of the headwear 20 may view the workpiece to be welded from adistance and/or angle that permit(s) the camera(s) 302 to capture animage of the workpiece from which an image processing algorithm candetect welds to be performed. For example, unique shapes, markings,and/or other features of a workpiece in the captured image view may bedetected and used to retrieve an identifier associated with theworkpiece.

In block 654, instructions for the weld(s) to be performed are retrievedfrom memory (e.g., local memory in the 20 and/or network-based memory).For example, the identifier determined in block 652 may be used as anindex to retrieve a corresponding entry in a database residing in server30 (FIG. 1). The retrieved instructions may comprise, for example, textand/or images (still images, video, and/or CAD drawings) of any formatsuitable for presentation on the display 304. Information contained inthe instructions may include, for example: number of welds to beperformed on the workpiece, sequence in which a plurality of welds areto be performed, target welding parameters for each weld to beperformed, nominal equipment settings to be used for each weld to beperformed, identification of welding materials (electrode, fillermaterial, etc.) to be used for each weld to be performed, how to preparea workpiece for each weld to be performed (e.g., paint or oxide removal,tack welds, how to put parts in jigs, closing the clamps,screwing/bolting torque values, prepping/cleaning of tools, inspectionand measurement of the joint fit-up, etc.), and/or the like. A codescanner function may be used by a smartphone app to recognize objects(e.g., checking the wire type against WPS to flag mistakes,inconsistency, and/or noncompliance. When the trigger is pulled, the appchecks a list of requirements and, if an error is identified, flags theidentified anomaly and disables the trigger.

In block 656, a pre-weld interface is presented on display 304. Thepre-weld interface may provide instructions on setting up for a nextweld to be performed and/or for actually performing the weld. Referringto FIG. 6B, an example pre-weld interface is shown. The example pre-weldinterface comprises graphical elements 602, 604, 606, 608, and 610overlaid on an image of the workpiece identified in block 652. The imageof the workpiece may be a photo or drawing received along with theinstructions or may be an image of the actual workpiece captured (e.g.,in block 652) by the camera(s) 302.

The graphic 602 (e.g., a text box) provides the wearer of the headwear20 with information about the workpiece (e.g., the part number(s) ofworkpiece(s) to be welded, a work order number for the welds to beperformed, and/or the like). The graphic 602 may also display theusername of the wearer of the headwear 20, for purposes of storing datato an appropriate user profile. The wearer of the headwear may interactwith the graphic 604 via the user interface 208 (e.g., using gesture,tactile or voice controls). Activation of the graphic 604 may cause theheadwear 20 to close the pre-weld interface and bring up the in-weldinterface described below. The wearer of the headwear 20 may interactwith the graphic 606 via the user interface 208. Activation of thegraphic 606 may cause the headwear 20 to bring up additionalinstructions (e.g., to show a previously-recorded video of the weld(s)to be performed). The graphics 608 and 610 identify the next weld to beperformed and provide information about performing the weld. In theexample shown, the graphic 608 identifies: characteristics of theworkpiece such as the type of metal of which it is made; characteristicsof the seam to be welded such as its length and width; target parametersfor welding the seam such as target work angle, target travel angle,target travel speed, target weave pattern, target multi-pass stack upsequence, and/or the like; and nominal equipment settings such aswhether a constant current or constant voltage mode should be used, thenominal voltage that should be used, the nominal current that should beused, the type/size of electrode and/or filler material that should beused, the nominal wire speed that should be used, etc.

Returning to FIG. 6A, in block 658 the wearer of the headwear 20triggers (e.g., by activating graphic 604) a transition from thepre-weld interface to an in-weld interface. In block 660, the in-weldinterface is presented. The in-weld interface provides instructions forperforming a particular weld. Referring briefly to FIG. 6C, an examplein-weld interface is shown. The example in-weld interface comprisesgraphical elements 602, 612, 620, 624, 628, and 630 overlaid onreal-time video frames captured by the camera(s) 302. The real-timevideo frames may be presented on the display 304 within, for example, 20milliseconds or, more preferably, 5 milliseconds, of having beencaptured by the camera(s) 302. The overlaid graphics may be opaque orpartially transparent. The graphic 602 (e.g., a text box) provides thewearer of the headwear 20 information about the welds to be performed(e.g., the part number of the workpiece, a work order number for thewelds to be performed, and/or the like). The wearer of the headwear 20may interact with the graphic 612 via the user interface 208 (e.g.,using tactile or voice or gesture controls). Activation of the graphic612 may cause the headwear 20 to transition from the in-weld interfaceback to the pre-weld interface for the current weld. In this manner, theoperator is enabled to quickly switch back and forth between thepre-weld interface and the in-weld interface. In an exampleimplementation, both interfaces may be viewed simultaneously (e.g., in aside-by-side or picture-in-picture type view).

The graphics 620, 624, 628, and 630 provide feedback to the wearer ofthe headwear 20 as to one or more welding parameters measured for a weldin progress. In the example shown, the graphic 620 comprises positionalcoordinate axes representing work angle and travel angle. The center ofthe coordinate system indicates the optimal orientation of the weldingtorch 618 during the weld. An actual orientation of the torch isindicated by dot 622. Based on this feedback, the operator canre-position the torch in an attempt to bring the dot 622 back to center.Other graphical representations of torch angle to provide feedback maybe used instead of the “bull's-eye” shown in FIG. 6C. Some examples aredescribed in United States Patent Application Publication 2009/0298024,which is hereby incorporated herein by reference. In the example shown,the graphic 624 comprises a graphical speedometer extending between a“too slow” marker and a “too fast” marker. A marker 626 indicating theactual speed is provided on the graphical speedometer as a feedback tothe wearer of the headwear 20. Other graphical representations oftravels speed to provide feedback may be used instead of the linearspeedometer shown in FIG. 6C. Some examples are described in UnitedStates Patent Application Publication 2009/0298024, which is herebyincorporated herein by reference. The graphic 628 provides the wearer ofthe headwear 20 with feedback as to settings and/or actual measuredoutput of the welding equipment 12. The measured output may, forexample, present real-time readings from arc monitoring equipment (e.g.,presented along a time axis as on an oscilloscope display). The graphic630 provides a reference path to aid the operator in aiming theelectrode at s/he performs the weld. The graphic 630 may, for example,coincide with the centerline of the seam and/or may set forth a weavingpattern. Any images and/or other data captured during the weld may bestored to local memory and/or to remote memory such as memory of server30. The stored images and/or other data may thus be made available forlater playback, analysis, and/or other interaction. For example, theserver 30 may be configured to enable streaming, 2D Fourier transform,sampling and filtering, motion estimation such as phase correlation,block matching and spatiotemporal gradient analysis, noise smoothing,sharpening, homomorphic filtering, pseudo coloring, segmentation,compression, annotation, sharing, etc. using cloud and web technologiessuch that computer novices may be provided with tools for viewing,interacting, learning from, and educating with the use of the capturedimages and/or other data. In another example, the aforementioned imageprocessing can be done in the equipment 12 before sending on to server30 via the communication link 29.

Returning to FIG. 6A, in block 662 the operator completes the weld. Inblock 664, upon detecting the completion of the weld (e.g.,automatically through an image processing algorithm or through inputfrom the operator), the headwear 20 presents a post-weld interface. Thepost-weld interface presents a summary of the completed weld (e.g., fortraining and/or quality control purposes). Referring briefly to FIG. 6D,an example post-weld interface is shown. The example post-weld interfacecomprises graphical elements 602, 634, 638, 640, and 651 overlaid on avideo frame captured by the camera(s) 302. The graphic 602 (e.g., a textbox) provides the wearer of the headwear 20 with information about thewelds to be performed (e.g., part number of a workpiece involved, a workorder number for the welds to be performed, and/or the like). The wearerof the headwear 20 may interact with graphic 634 via the user interface208 (e.g., using tactile or voice controls). Activation of the graphic634 may cause the headwear 20 to transition from the post-weld interfaceto the pre-weld interface a next weld to be performed while an audiocommand instruct operation to look at the finished weld thru pointingthe camera to go over the entire weld.

The graphics 638, 640, and 651 provide a review of the completed weld tothe wearer of the headwear 20. The graphic 638 (e.g., a textbox)provides results of an assessment of the completed weld. Such anassessment may comprise a determination of whether welding parametersand/or equipment settings measured and stored during the weld are withindetermined tolerances (e.g., set forth in the instructions). Such anassessment may include implementing an image processing algorithm forinspecting shape, length, width, height, smut, oxide cleaning track,reflectivity, color, visible discontinuities and defect (e.g. crack,undercut, burn thru, bead humping, concavity, lack of fusion, surfaceporosity, leftover wire protrusion, spatter and splatter, distortion,deformations, and/or other visual characteristics of the bead 614 and/orthe workpiece). Such assessment may include checking the brightness ofthe images captured during the weld. For example, dark frames during theweld may indicate places along the weld where the arc was lost, and suchlocations may be deserving of additional inspection (either throughimage processing and/or by directing the operator to perform furtherinspection or testing). Similarly, such an assessment may includechecking the equipment settings/outputs shown in graphic 640 fordiscontinuities which may correspond to places where the arc was lost,for example.

The graphic 640 provides a histogram of a parameter and/or settingmeasured during the weld. Although only a single graphic 640 is shown,any number of them corresponding to any number of parameters and/orsettings may be shown. The line 650 corresponds to a target value forthe parameter. The lines 646 and 648 correspond to upper and lowertolerances for the parameter. The line 644 corresponds to themeasurements of the parameter for the completed weld. The marker 642allows the operator to select any time instant during the weld. Thegraphic 651 displays additional information for the time instantselected by the marker 642. In an example implementation, the videoframe on which the graphic elements 602, 634, 638, 640, and 651 areoverlaid is the frame captured at the time instant selected by themarker 642. In this manner, by scrolling the marker 642 or triggeringplayback (i.e., auto-scrolling of the marker 642) a recording of theweld may be viewed on the display 304. The data presented in thepost-weld interface may be associated in memory with a user profile ofthe operator who performed the weld. Such user profile information maybe used for evaluating/certifying/etc. the operator.

In an example implementation, the graphic 640 may be analyzed to detectpotential problems with the weld (e.g., a time graph of the currentdelivered to the weld may be analyzed for sharp spikes ordiscontinuities which may be indicative of stubbing, open circuitvoltage (OCV), or arc outage, for example). Such a spike, instability oranomalies may then be called out with interface elements (e.g., analternate marker 642, for example) on the post-weld interface.Interaction with such interface elements by the operator may then bringup a recording of the in-weld interface from the time period surroundingthe detected spike or instability.

Returning to FIG. 6A, in block 666 the wearer of the headwear 20triggers (e.g., by activating graphic 634) a transition from thepost-weld interface to the pre-weld interface for the next weld to becompleted. FIG. 6E shows an example of such an interface, which issimilar to the interface shown in FIG. 6B, but for the next weld on theworkpiece 600.

FIG. 6F illustrates an example training graphic 653 that may bepresented to an operator to perform operator training. The examplegraphic 653 may be presented on the display 304, and illustrates a weldenvironment with a workpiece 600. The workpiece 600 in the graphic maybe obtained from images of the environment taken with the camera 414. Inthe training mode, the image processor 416 and the processor 410generate and overlay virtualized versions of the electrical arc 668 andthe resulting weld bead 670 based on weld signal feedback received fromthe power supply (which is also in a training mode and does not outputcurrent).

In the example of FIG. 6F, the image processor 416 determines anorientation of the workpiece 600 and/or any other objects in the imagebased on one or more localization markers 672 a, 672 b. The localizationmarkers are recognized in the image captured by the camera 414 and, withknowledge of the size and arrangement of the markers 672 a, 672 b, theimage processor 416 can determine an appropriate size and/or orientationof objects generated for display. The markers 672 a, 672 b may be a barcode, a quick response (QR) code, or any other one, two, and/orthree-dimensional indicia and/or glyph that is readable by processing animage of the markers 672 a, 672 b. Additionally or alternatively, themarkers 672 a, 672 b may be implemented using infrared (IR)-frequencyreflectors.

FIG. 6G illustrates another example weld interface 674 in which theheadwear 20 measures and/or displays the size of a weld puddle 676during a welding operation. To measure the size of the weld puddle 676,the headwear 20 may use one or more camera(s) 414. Using one camera, theexample processor 410 identifies and calibrates dimension informationusing one or more known objects in the weld scene. For example, theprocessor 410 may identify (from the images captured by the camera 414),a welding wire diameter and/or the localization markers 672 a, 672 b,which have a pre-determined size. To obtain an image of the weld puddle676 (e.g., without interference by the electrical arc), the processor410 may request a short circuit to be performed by the equipment 12. Ina stable GMAW process, the short circuit events happen at regularintervals, e.g. at 80-250 Hz. When the arc is extinguished during theshort circuit, the camera 414 captures an image of the weld puddle,which can then be measured by the processor 410 by processing the imagewith reference to the known reference objects. For example, because theelectrode wire is touching the weld pool 676 (or is at least in closeproximity), the processor 410 may estimate the weld pool dimension(s)from the electrode wire size in the same image. Weld size is usuallyvery close to the weld pool size (proportional or with an offset) ifweave is not used. Alternatively, in non-short circuit weld processessuch as GTAW (e.g., the electrode is not consumable but has a knowndiameter), the camera 414 is an HDR camera that can view the weld pooldespite the intense arc light.

Additionally or alternatively, the cameras may include 1) stereoscopicHDR optical sensors, which may provide depth perception and dimensionalmeasurement to measure the weld pool 676; 2) stereoscopic infraredsensors, which identifies the weld pool 676 as the highest-temperatureobject in the infrared image and filters out other objects; 3) a laserscanner; 4) a time of flight camera; 5) a single camera with a laserranging device for distance; 6) a single camera with an object that hasknown dimensions mounted on the torch for reference in front of the weldpool 676; and/or 7) a single camera with gas nozzle geometric featuresthat have known dimensions, measuring stick-out and arc length throughthe arc (e.g., via HDR optical sensors) to determine the size of theweld pool 676.

Using consecutive images, the processor 410 can identify the weld pooltravel direction (e.g., the direction in which the weld pool develops,opposite the direction in which the weld pool cools to the weld bead).From the weld pool travel direction, the processor 410 measures thewidth of weld pool 676 (e.g., perpendicular to the travel direction).After determining the size of the weld pool 676, the processor 410determines a weld size, which may be a delta offset or proportional tothe weld pool 676. From the weld size, the processor 410 furtherdetermines the travel speed of the torch 504 (e.g., using a model oralgorithm), heat input (e.g., proportional to the square of the fillet),and/or a weld leg size. The processor 410 may determine the travel speedas proportional to the welding power divided by the heat input.

The example interface 674 displays the calculated weld puddle diameterand the travel speed in a graphic 678 that is displayed with the weldingscene. In some examples, the processor alerts the operator based ontravel speed conformance. Additionally or alternatively, the processor410 may request a change to the wire feed rate for weld size closed loopcontrol or heat input per unit length closed loop control (e.g., forconstant penetration).

FIGS. 7A-7C illustrate an example welding process 700 using headwearembodying aspects of this disclosure.

The process begins at block 702 in which a distance and viewing anglebetween the headwear 20 and a workpiece is determined. The distance may,for example, be determined based using an ultrasonic or infrared sensorintegrated into the headwear 20. Alternatively, the distance may bedetermined through image processing algorithms performed by GPU 418. Insuch an embodiment, the captured images of the workpiece may be analyzedto detect characteristics (size, position, etc.) of distinguishingfeatures of the workpiece as they appear in the images. Thecharacteristics may then be used in combination with stored data aboutthe workpiece (e.g., actual dimensions of the features of the workpiece)to determine the viewing distance and angle. For example, the size ofthe visible markings on the workpiece, the fact that some markings onthe workpiece are visible while others are not, the known actual size ofthe markings, and the known positioning of the markings on the workpiecemay be used to determine viewing distance and angle.

In block 704, instructions for welding the workpiece are retrieved frommemory (e.g., from a networked database that the headwear 20 reaches viaa LAN or the Internet).

In block 706, a portion of the instructions are selected forpresentation on the display 304 based on the determined distance toand/or viewing angle of the workpiece. When the workpiece is viewed fromrelatively far, the selected portion of the instructions may comprisehigh-level pictures and instructions that orient the operator to theoverall work to assist the operator in planning a sequence of welds tobe performed on the workpiece. For example, referring briefly to FIG.7B, when the workpiece is viewed at a relatively far distance d1,instruction portion 724 is selected for presentation. Instructionportion 724 is a zoomed-out view of the workpiece comprising graphics726 which identify part numbers for the workpiece, and two welds to beperformed on the workpiece, and the sequence in which the welds are tobe performed. Conversely, when the workpiece is viewed from relativelyclose, the selected portion of the instructions may comprise low-levelpictures and instructions to guide the operator for performing aspecific weld. For example, referring to FIG. 7C, when the workpiece isviewed at a close distance d2, instruction portion 734 is selected forpresentation. Instruction portion 734 is a zoomed-out view comprising aportion of the graphics 726 which are still pertinent to the zoomed-inview, and graphic 730 which provides more in-depth information forwelding the seam at which that the operator is looking. Although twodistances and corresponding instruction portions are described, anynumber of instruction portions corresponding to different view distancesand/or angles may be available. Similarly, switching between differentinstruction portions need not be based entirely, or even at all, onmeasured distances. Rather, the operator may select (e.g., via voiceand/or tactile input, for example) which instruction portions s/hedesires to view at any given time. Furthermore, multiple instructionportions may be viewed simultaneously (e.g., in a side-by-side orpicture-in-picture type view). For example, instruction portion 724 maybe presented in the corner of the display while instruction portion 734is presented on the remainder of the display.

Returning to FIG. 7A, in block 708 the wearer of the headwear 20triggers (e.g., by activating graphic 604) a transition to an in-weldinterface, such as the interface of FIG. 6C. In block 710, duringwelding, the headwear 20 determines the spatial position of the seambeing welded, the welding torch, the electrode, and/or other objects inthe field of view of camera(s) 302. The headwear 20 uses this determinedspatial position information to update one or more graphical overlays inreal time. The spatial position information may, for example, bedetermined using image processing algorithms that determine 3-D positionbased on pixel data of stereoscopic images captured by the camera(s)302. The spatial position information may, for example, be used forrendering a graphic, such as 630, that overlays a real-time video of theworkpiece such that the graphic is maintained in proper alignment withthe workpiece (i.e., to track and compensate for the changing positionof the welder's head as s/he performs the weld).

FIGS. 8A and 8B illustrate the use of a 3-D rendering generated bywelding headwear for enhancing an operator's view of a workpiece to bewelded. In FIG. 8A, a portion of a workpiece 800 to be welded is blockedby obstruction 802. Obstruction 802 may be, for example, the weldingtorch and/or hand of the operator performing the weld. In FIG. 8B, the3-D rendering is used to digitally erase the obstruction 802 such thatthe wearer of the headwear 20 can “see through” the obstruction 802. Forexample, a virtual extension of the weld bead 804, a virtual electrode808, and virtual extension of the seam 810 are presented in place of theobstruction 802. The rendering may be based on: current position of theworkpiece (determined from most-recent images captured by the camera(s)302), known information about the workpiece (e.g., from previouslycaptured images when the obstruction 802 was not blocking the view ofthe workpiece), and chroma keying (e.g., the torch and welders glovesmay be painted green or some other color).

Referring to FIG. 9A, a flowchart illustrates an example process 900 forwelding a workpiece 24 while causing remote storage of image data basedon such welding.

The process begins with block 901, in which one or more welds to beperformed are determined by the headwear 20. The determination may bebased on an identifier (e.g., a work order number, a part number, etc.)entered by the welder 18 through, for example, voice recognition and/ortactile input. Alternatively, or additionally, the welder 18 may viewthe workpiece to be welded from a distance and/or angle that permit thecamera(s) 302 to capture an image of the workpiece from which an imageprocessing algorithm can detect welds to be performed. For example,unique shapes, markings, and/or other features of a workpiece in thecaptured image view may be detected and used to retrieve an identifierassociated with the workpiece.

In block 902, welder 18 initiates a welding operation. For example,welder 18 may give a voice command for welding system 10 to enter a weldmode, which voice command is responded to by user interface of headwear20. The processor 410 configures the components of headwear 20 accordingto the voice command in order to display, on display 304, the livewelding operation for viewing by the welder. The welder views the weldon display 304 and controls operation and positioning of electrode 16.The processor 410 may respond to the voice command and send a signal toequipment 12 to trigger the weld mode in equipment 12. For example, theprocessor 410 disables a lock out so that power is delivered toelectrode 16 via power supply 212 when a trigger on the torch is pulledby the welder. Wire feeder 214 and gas supply 216 may also be activatedaccordingly. Block 902 thus represents the step of the welder placingthe welding system in a weld mode so that the workpiece may be welded.Equipment 12 is configured by the welder 18 using a user interface ofthe headwear 20 based on the determined characteristics of the weld tobe performed. For example, a constant current or constant voltage modemay be selected, a nominal voltage and/or nominal current may be set, avoltage limit and/or current limit may be set, and/or the like.Camera(s) 414 may be configured via a user interface of the headwear 20.For example, expected brightness of the arc may be predicted (based onthe equipment configuration and the characteristics of the weld to bemade). The electric signals from user interface 308 may configure thedarkness of a lens filter, an exposure time of the camera(s) 414, and/orthe like.

In block 904, the operator begins welding. Workpiece 24 is placed intoposition, together with the electrode, relative to the field of view ofoptics 302 a, 302 b. The trigger is activated by the welder, and amultimedia file is created/opened in memory and images of the weldoperation begin to be captured by the camera(s) 414 and stored to themultimedia file. The images may be stored as raw unprocessed pixel datacoming from camera(s) 414. Alternatively (or additionally), the imagesmay be compressed and stored as processed pixel data from GPU 418. In anexample implementation, these events may be sequenced such that imagecapture starts first and allows a few frames during which the cameras414 and/or display 304 are calibrated (adjusting focus, brightness,contrast, saturation, sharpness, etc.) before current begins flowing tothe electrode, this may ensure sufficient image quality even at the verybeginning of the welding operation. The multimedia file may be stored inmemory 411 of headwear 20. Alternatively (or additionally), theprocessor 410 may transmit the images (unprocessed or processed) to thecommunication interface 406 for transmission to a remote memory such asmemory in equipment 12 and/or memory in server 30.

Still in block 904, in addition to storing the captured images, theimages may be displayed in real-time on the display 304 and/or on one ormore other remote displays to which the captured images are transmittedin real-time via link(s) 25, 27, and/or 29. In an exampleimplementation, different amounts of image processing may be performedon one video stream output to the display 304 and another video streamoutput via communication interface 406. In this regard, higher latencymay be tolerable to the remote viewer such that additional processingmay be performed on the images prior to presentation on the remotedisplay.

In block 906, as the welding operation proceeds, the captured image datais processed and may be used to determine, in real-time (e.g., withlatency less than 100ms or, more preferably, less than 5ms), presentwelding parameters such as those described above with reference to FIGS.5A-5C. The determined welding parameters may be stored to memory alongwith the processed and/or unprocessed image data. For example, graphicalrepresentations of the welding parameters may be synchronized with thecaptured images and converted to text/graphics which are overlaid on thecaptured images prior to storing the images. Alternatively (oradditionally), the determined welding parameters may be stored asmetadata along with the captured image data.

Still referring to block 906, as the welding operation proceeds,settings and/or measured output of the equipment 12 may be received vialink 25. The processor 410 may adjust the settings based on theparameters determined. In this manner, equipment settings such asvoltage, current, wire speed, and/or others may be adjusted in anattempt to compensate for deviations of the parameters from their idealvalues. The equipment settings and/or measured output may be storedalong with the captured image data. For example, the settings and/ormeasured output may be synchronized with the captured images andconverted to text/graphics which are overlaid on the image data by GPU418 prior to storing the image data and/or the identifier may be storedin metadata of the multimedia file in which the image data is stored.

Still referring to block 906, as the welding operation proceeds, otherinformation may be captured (by the camera(s) 414 and/or other sensors422) and stored along with the captured images. This other data may thenbe synchronized to the captured images and stored with the capturedimages (e.g., as metadata and/or converted to text/graphics and overlaidon the images). Such data may include, for example, an overallidentifier of the weld operation determined in block 901, individualpart numbers of the parts being welded (e.g., barcoded such that theycan be automatically detected from the captured images), timestamps,climate (temperature, humidity, etc.), and/or the like. The multimediafile containing the may be indexed by any of this information for latersearching and retrieval.

In block 908, the first weld operation on workpiece 24 is completed. Inblock 908 the multimedia file to which the images and other data werewritten during blocks 904 and 906 may be closed (e.g., file headersadded, checksums calculated, etc.). In some instances, the file may betransferred for long term storage (e.g., from memory 411 of the headwear20 to a database residing in memory of server 30).

Where the captured image data is stored as raw unprocessed pixel data,such raw unprocessed pixel data may be processed externally of headwear20. In block 910, the processor 410 transmits the pixel data to, forexample, a memory at server 30 via antenna 402 or port 404. A processorat server 30 processes the raw unprocessed data and stores the processeddata in memory at server 30. There may be more compute power at theserver 30 and greater latency may be tolerated as compared to processingin headwear 20 prior to presentation on display 304. If there is toomuch latency inside the helmet, the welder may become disoriented.Similarly, pixel data already processed in headwear 20 under latencyconstraints (e.g., to condition it for real-time presentation on thedisplay 304) may be further processed by the headwear 20 and/or by anexternal processor (such as in server 30). Such additional processingmay enable determining additional and/or more-detailed information aboutthe weld that there wasn't time and/or compute power to determine priorto real-time presentation of the captured images.

In block 912, the images captured during block 904 are transmitted fromthe memory of server 30 to a second remote location such as a cloudserver. For example, the images on the cloud may be retrieved (e.g.,using a web-based application accessed through a browser or other webclient or a non-web app) by an instructor or supervisor to review thework of a student or employee. As another example, the images may bereviewed by a quality control auditor as part of random qualityinspections and/or as part of an investigation into a failed weld (e.g.,if the welded part later fails in the quality assurance (QA) departmentof a fabricator or in the field, the captured images and the informationstored along with the images may be viewed to see if the weld processwas the likely cause of the failure).

In another example implementation, the headwear 20 may comprise asee-through or transparent optical display mounted behind theconventional auto-darkening lens, operable to perform wavelengthselective switching (WSS) to prevent peak arc spectral wavelengths toreach wearer's eyes. The WSS may be controlled based on output of aphotodiode sensor which detects presence or absence of the welding arcsimilar to the sensor used by an auto-darkening lens. When the weldingarc is present, the WSS is configured such that the display enablesnotch filters with wavelengths corresponding to the peaks in the powerspectral density of the welding arc. When the welding arc is absent, theWSS is configured such that the display passes all (or most) of thevisible spectrum (i.e., the display is substantially transparent whenthe welding arc is not present). The display may comprise, for exampleone or more Liquid Crystal on Silicon (LCoS) displays. In an exampleimplementation, the WSS display notch filter wavelengths may bedetermined based on characteristics of the weld being performed (e.g.,depending on welding shielding gas composition, welding materials, etc.,which may affect the wavelengths emitted by the arc) so that the WSSdisplay wavelengths are programmed to reject the peaks in the arcspectrum of specific known gas or parent material being used in welding.

FIG. 9B is a flowchart illustrating an example welding process 920 totransmit images during a weld operation. The example process 920 may beperformed to capture images (e.g., video) of an ongoing weld operationand transmit the images to an observation computer for others to viewand/or for storage of the images. Blocks 901, 902, and 904 areimplemented as described above with reference to FIG. 9A.

In block 922, the processor 410 transmits the captured video via thecommunications interface 406 (e.g., via wired and/or wirelesscommunications) to another device. For example, the processor 410 maytransmit the video to the server 30 of FIG. 1, which may include adisplay for viewing by an instructor or supervisor of the weld operator.

In block 924, the processor 410 determines whether the weld iscompleted. If the weld is not completed (block 924). For example, theprocessor 410 may receive a trigger release signal from the weldequipment 12 via the communications interface 406 and/or detect areduction in brightness via the camera(s) 414. If the end of the weld isnot detected (block 924), control returns to block 922 to continuetransmitting the captured video. When the end of the weld is detected(block 924), the example instructions 900 end.

FIG. 10 is a flowchart illustrating example machine readableinstructions 1000 which may be executed by a processor to generate aweld record for a welding process. The example instructions 1000 may beexecuted by the example headwear 20 of FIGS. 3 and/or 4, by a mobiledevice and/or other computing device (e.g., a smartphone mounted to awelding helmet or other personal protective equipment). The exampleinstructions 1000 will be described with reference to the exampleheadwear 20 of FIG. 4 (e.g., the example processor 410 executing theinstructions 428 stored in the memory 426).

At block 1002, the processor 410 determines whether a weld operation hasstarted. For example, the processor 410 may identify a weld operationbased on a signal from the sensor(s) 422, one or more image(s) from theoptical sensor 414, and/or via a signal received via the communicationsinterface 406 (e.g., a synchronization signal from a welding powersource and/or from a server). If the weld operation has not started(block 1002), the processor 410 iterates block 1002 to monitor for thestart of a weld operation.

At block 1004, the example optical sensor 414 captures a HDR image. Forexample, the optical sensor 414 may record high dynamic range image(s),record high dynamic range video, record wide dynamic resolutionimage(s), record wide dynamic resolution video, recording time-of-flightimage(s), recording structured-light three-dimensional image(s), and/orrecording images at a frame rate of 500-10,000 frames per second orhigher.

At block 1006, the processor 410 determines whether a circular buffer isfull. For example, the circular buffer may be a designated portion ofthe memory 426 and/or a separate buffer or storage device.

If the circular buffer is full (block 1006), the example processor 410overwrites an oldest image stored in the circular buffer with thecaptured image (block 1008). For example, the processor 410 and thecircular buffer may store buffered images in a first-in-first-outsequence to retain the most recent images.

If the circular buffer is not full (block 1006), the processor 410stores the captured image in the circular buffer (block 1010).

After storing the captured image in the circular buffer (block 1008 orblock 1010), at block 1012 the example processor 410 monitors weldingparameter measurement(s). For example, the processor 410 may receive oneor more welding parameters from a power source being used in the weldingoperation via the communications interface 406, and compare the weldingparameter(s) to corresponding range(s) of values.

At block 1014, the processor 410 determines whether any of the weldingparameter(s) are outside of a corresponding acceptable range (block1014). For example, the processor 410 may determine if a current orvoltage have exceeded a range designated for the welding operation. Ifnone of the welding parameter(s) are outside of the corresponding range(block 1014), the processor 410 returns control to block 1004.

If any of the welding parameter(s) are outside of the correspondingrange (block 1014), the example optical sensor 414 captures a HDR image(block 1016). Block 1016 may be implemented in the same manner as block1004.

At block 1018, the example processor 410 stores the captured image(s) inthe memory 426. In block 1018, the processor 410 does not store thecaptured image(s) in the circular buffer, and instead stores thecaptured image(s) in a different portion of the memory 426 while leavingthe circular buffer intact.

At block 1020, the processor 410 determines whether the weldingoperation is finished (block 1020). For example, the processor 410 maydetermine whether the weld operation is finished based on a signal fromthe sensor(s) 422, one or more image(s) from the optical sensor 414,and/or via a signal received via the communications interface 406 (e.g.,from the welding power source and/or the server). If the weldingoperation is not finished (block 1020), the processor 410 returnscontrol to block 1016 to continue capturing images.

When the welding operation is not finished (block 1020), at block 1022the processor 410 appends the images in the circular buffer to theimages in the memory to generate a record of the welding operation(e.g.,a video of the weld from the operator's approximate point of view, orfrom another vantage point from which the welding operation can beadequately observed). In some examples, the processor 410 also appendswelding parameter measurements that have been received to the record.The example processor 410 includes time stamps of the images and/or theparameter measurements to enable any deviations in the weldingparameters to be correlated to the images taken at approximately thesame time.

At block 1024, the example processor 410 transmits the record of thewelding operation to a server. For example, the processor 410 mayautomatically transmit the record, transmit the record in response to arequest, and/or transmit the record when one or more criteria are met(e.g., sufficient battery power to complete transmission, sufficientwireless network connectivity and/or speed, etc.).

The example instructions 1000 of FIG. 10 generate a record that enablesa review of a welding operation for training, production control,maintenance, and/or for any other purpose. While the exampleinstructions 1000 trigger the generation of a record in response toidentifying welding parameters that fall outside of an acceptable range,in some other examples the instructions 1000 automatically generate therecord of the weld based on another trigger, and/or without any trigger(e.g., to record high quality welds for training and/or to record allwelds).

In some examples, the weld record further includes audio collectedduring the weld by one or more microphones. The audio information may bereplayed and/or analyzed for audio signatures corresponding to differentweld qualities and/or defects. Example methods and systems that may beused to collect and/or analyze welding audio are described in U.S. Pat.No. 5,306,893, issued Apr. 26, 1994. The entirety of U.S. Pat. No.5,306,893 is incorporated herein by reference.

FIG. 11 is a block diagram of an example implementation of the server 30of FIG. 1. The example server 30 of FIG. 11 may be a general-purposecomputer, a laptop computer, a tablet computer, a mobile device, aserver, and/or any other type of computing device. In some examples, theserver 30 may be implemented in a cloud computing environment using oneor more physical machines and, in some examples, one or more virtualmachines in the data center.

The example server 30 of FIG. 11 includes a processor 1102. The exampleprocessor 1102 may be any general purpose central processing unit (CPU)from any manufacturer. In some other examples, the processor 1102 mayinclude one or more specialized processing units, such as graphicprocessing units and/or digital signal processors. The processor 1102executes machine readable instructions 1104 that may be stored locallyat the processor (e.g., in an included cache), in a random access memory1106 (or other volatile memory), in a read only memory 1108 (or othernon-volatile memory such as FLASH memory), and/or in a mass storagedevice 1110. The example mass storage device 1110 may be a hard drive, asolid state storage drive, a hybrid drive, a RAID array, and/or anyother mass data storage device.

A bus 1112 enables communications between the processor 1102, the RAM1106, the ROM 1108, the mass storage device 1110, a network interface1114, and/or an input/output interface 1116.

The example network interface 1114 includes hardware, firmware, and/orsoftware to connect the server 30 to a communications network 1118 suchas the Internet. For example, the network interface 1114 may includeIEEE 802.X-compliant wireless and/or wired communications hardware fortransmitting and/or receiving communications.

The example I/O interface 1116 of FIG. 11 includes hardware, firmware,and/or software to connect one or more input/output devices 1120 to theprocessor 1102 for providing input to the processor 1102 and/orproviding output from the processor 1102. For example, the I/O interface1116 may include a graphics processing unit for interfacing with adisplay device, a universal serial bus port for interfacing with one ormore USB-compliant devices, a FireWire, a field bus, and/or any othertype of interface. Example I/O device(s) 1120 may include a keyboard, akeypad, a mouse, a trackball, a pointing device, a microphone, an audiospeaker, a display device, an optical media drive, a multi-touch touchscreen, a gesture recognition interface, a magnetic media drive, and/orany other type of input and/or output device.

The example server 30 may access a non-transitory machine readablemedium 1122 via the I/O interface 1116 and/or the I/O device(s) 1120.Examples of the machine readable medium 1122 of FIG. 11 include opticaldiscs (e.g., compact discs (CDs), digital versatile/video discs (DVDs),Blu-ray discs, etc.), magnetic media (e.g., floppy disks), portablestorage media (e.g., portable flash drives, secure digital (SD) cards,etc.), and/or any other type of removable and/or installed machinereadable media.

FIG. 12 is a flowchart illustrating example machine readableinstructions 1200 which may be executed by a processor to implement theserver 30 of FIGS. 1 and/or 11 to store and/or display welding recordsof welding operations. The example instructions 1200 may be stored onthe any of the non-transitory machine readable media described in FIG.11, and/or executed by the processor 1102 of FIG. 11.

In block 1202, the example processor 1102 determines whether a weldoperation has been detected. For example, the processor 1102 may be incommunication with the equipment 12 (e.g., a welding power supply) ofFIG. 1, from which the processor 1102 receives statuses of weldingoperations performed using the equipment 12.

If a weld operation has been detected (block 1202), in block 1204 theprocessor 1102 transmits synchronization signal(s) to capture device(s)associated with the welding operation. For example, the processor 1102may be in communication with the headwear 20 and/or the camera 32 ofFIG. 1.

In block 1206, the example processor 1102 determines whether an end ofthe weld operation has been detected. For example, the processor 1102may receive an end signal from the equipment 12 indicating that theequipment 12 has ended a welding operation (e.g., in response to releaseof the gun trigger by the operator). If an end of the weld operation hasnot been detected (block 1206), the processor 1102 returns control toblock 1204.

When the end of the weld operation has not been detected (block 1206),the processor 1102 transmits an end signal to the capture device(s)(e.g., the headwear 20, the camera 32) (block 1208). In some examples,the processor 1102 may further alert or remind an operator, via thedisplay, to look at the completed weld as a visual inspection.

In block 1210, the example processor 1102 transmits requests to thecapture device(s) for welding records. In response, the example capturedevice(s) may generate the welding records as described above withreference to FIG. 10.

In block 1212, the example processor 1102 transmits requests to thepower supply for welding parameter measurements. In response, theexample equipment 12 may collect a set of measurements (e.g., voltagemeasurements, current measurements, process selection, etc.) generatedduring the welding operation. In some examples, the equipment 12 sendsthe parameter measurements during the welding operation, and theprocessor 1102 may access the previously-received measurements in lieuof block 1212.

In block 1214, the processor 1102 merges the welding record(s) receivedfrom the capture device(s) with the welding parameter measurements usingcorresponding time stamps of the image(s) in the welding records and thewelding parameter measurements. Thus, the merged welding records andparameter measurements can synchronize captured images with weldingparameter measurements that occurred at the same or approximately thesame times as the images.

After merging the record(s) (block 1214), or if a weld operation was notdetected (block 1202), in block 1216 the processor 1102 determineswhether any welding record(s) have been requested. For example, a QAmanager, a welder trainer, or a shop supervisor, a service technicianmay wish to review the images and/or parameter measurements captured fora particular welding operation.

If a welding record has been requested (block 1216), the processor 1102accesses the requested welding record(s) (block 1218). For example, theprocessor 1102 may access the welding record(s) from a local or remotestorage device. The processor 1102 outputs the synchronized weldingimage(s) and welding parameter measurements (block 1220). For example,the processor 1102 may generate a web-based interface (e.g., an HTML5interface, etc.) for display on a display device and/or interactiveviewing by a viewer. In some examples, the processor 1102 transmits theinterface to another device (e.g., a tablet computer, a computerterminal, etc.) for viewing and/or interaction.

After outputting the synchronized welding image(s) and welding parametermeasurements (block 1220), and/or if no welding records were requested(block 1216), the example instructions 1200 may end.

FIG. 13 is a flowchart illustrating example computer readableinstructions which may be executed to implement the example headwear 20of FIGS. 3A-4B to provide weld operator training. In the exampleinstructions 13, the headwear 20 is implemented using a mobile devicesuch as a smartphone that can be mounted to a helmet or other head-worndevice such that the display of the mobile device is facing the weldoperator and a camera of the mobile device is facing in same directionas the weld operator.

At block 1302, the processor 410 initializes a mobile device application(e.g., an app), which may be stored as the instructions 428 in thememory 426.

At block 1304, when the mobile device app is initialized, the processor410 establishes communications with weld equipment, such as a powersupply. For example, the processor 410 may use the communicationsinterface 406 and one or more wired or wireless protocols such asZigbee, Bluetooth, or WiFi, MiFi, cellular, satellite network tocommunicate with a power supply that is to be used for the training.

At block 1305, the processor 410 receives weld configurationinformation. The example weld configuration information may include, forexample, a description of the welding equipment being used. Theprocessor 410 may receive the weld configuration information via thecommunications interface 406 and/or via a user input. At block 1306, theprocessor 410 initializes a camera 414 of the mobile device.

At block 1308, the image processor 416 and/or the processor 410 processcamera images with image processing techniques to identify a weld scene.As an example, the image processor 416 may identify localization markerswithin the images captured by the camera 414 to identify a weld scene.At block 1310, the processor 410 determines whether the weld scene isdetected. If the weld scene is not detected (block 1310), controlreturns to block 1308 to continue processing the camera images.

When the weld scene is detected (block 1310), at block 1312 theprocessor 410 monitors the communications interface 406. For example,the processor 410 may wait for a trigger signal from the power supply orwire feeder indicating that the weld operator has pulled the trigger. Atblock 1314, the processor 410 determines if a weld start command hasbeen detected, such as by receiving a trigger signal, a voice command orother user input, and/or identifying an electrical arc from capturedimages. In some examples, such as training using actual welding, theprocessor 410 may also monitor for an indication from the imageprocessor 416 whether an arc start has been detected (e.g., viarecognizing a high-brightness image). If a weld start is not detected(block 1314), control returns to block 1308.

When a weld start is detected (block 1314), at block 1316 the imageprocessor 416 processes camera images to identify a weld scene. Forexample, the image processor 416 may identify weld objects such as aweld pool, an electrode, an arc, and/or a weld gun in the imagescaptured by the camera 414.

At block 1318, the processor 410 receives weld parameters from thewelding equipment (e.g., via the communications interface 406). Exampleweld parameters may include a voltage setpoint, a current setpoint, aweld process (e.g., MIG, TIG, spray transfer, controlled short circuit,etc.), and/or a wire feed speed.

At block 1320, the GPU 418 generates and displays simulated objects with(e.g., overlaid on) the camera images on the display 304 of the mobiledevice to display the weld scene to the operator. The simulated objectsmay include a simulated arc, a simulated weld puddle, graphicsillustrating the received weld data, and/or any other traininginformation. In the example, the display 304 acts as the operator'svision of the weld scene.

At block 1321, the example processor 410 adjusts or configures thedisplay of the simulation (e.g., the displayed images of the weld sceneand/or the simulated objects) based on the weld parameters and/orfeatures extracted from images of the weld scene. For example, extractedfeatures such as contact-tip-to-work distance indicate how an operatorperforms, and may be extracted from the images by identifying theelectrode and/or the weld torch, identifying the workpiece, calibratingdistance measurements using a distance reference, and measuring thedistance using the calibrated distances. For example, the processor 410may determine how the simulated weld would act based on a model (e.g., athermodynamic model, a neural network model, etc.), using the wire feedspeed and/or a gun travel speed to determine a puddle size and a weldvoltage to determine an arc length. The processor 410 determines how theweld would act in a real welding situation and displays a correspondingimage of the weld to the user.

At block 1322, the processor 410 determine whether the weld end commandis detected. For example, the processor 410 may receive a triggerrelease signal from the weld equipment via the communications interface406. If the end of the weld is not detected (block 1322), controlreturns to block 1316.

When the end of the weld is detected (block 1322), at block 1324 theprocessor 410 summarizes and displays the weld performance for thetraining weld in a post-weld summary interface on the display 304. Whenthe weld operator clears the display (e.g., via a voice command or otherinput), control returns block 1308.

FIG. 14 is a flowchart illustrating example computer readableinstructions 1400 which may be executed to implement the exampleheadwear 20 of FIGS. 3A-4B to focus and/or zoom an image sensor based onidentifying a location of a weld arc. The example instructions 1400 maybe executed by the processor 410 of FIGS. 3C and/or 4B to focus theimage sensor(s) 422 and/or zoom an image captured by the image sensor(s)for display on the display 304. The instructions may be performed inconjunction with any of the other instructions of FIGS. 6A, 7A, 9, 10,12, and/or 13. At block 1402, the processor 410 determines whether aweld operation is detected. For example, the processor 410 may processone or more images from the image sensor(s) 422 to determine whether anarc is present based on whether a brightness of the image and/or anyportion of the image exceeds a threshold. If a weld operation is notdetected (block 1402), control iterates until a weld operation isdetected.

When a weld operation is detected (block 1402), the image sensor(s) 422capture image(s) of the weld scene (block 1404). In some examples, theimage sensor(s) 422 capture multiple images to facilitate generation ofHDR, WDR, or MDR images.

In block 1406, the processor 410 determines a location of a weld arcwithin the weld scene by detecting the brightest location (e.g., region)in the image(s). In some cases in which multiple (e.g., stereoscopic)image sensors are used, a three-dimensional location of the arc isdetermined.

In block 1408, the processor 410 determines a location of interest inthe weld scene based on the location of the weld arc. For example, theprocessor 410 may determine the location of the weld puddle as a shortdistance from the location of the weld arc, due to the relationshipbetween the weld arc and the weld puddle.

In block 1410, the example processor 410 controls the camera(s) 414(e.g., HDR image sensors) to focus on the location of interest. Byfocusing on the location of interest, the processor 410 may improve theoperator's view of the location of interest.

In block 1412, the processor 410 determines whether a torch zoom isselected. When the torch zoom is selected (block 1412), the processor410 generates and displays (e.g., via the display 304) a zoomed-in imageof the location of interest.

After generating and presenting the zoomed in image (block 1414), or ifthe torch zoom is not selected (block 1412), control returns to block1402.

FIG. 15 is a flowchart representative of example machine readableinstructions 1500 which may be executed to implement the exampleheadwear 20 of FIGS. 3A-4B to perform a pre-weld inspection of a weldscene. While the example instructions 1500 are described with referenceto the processor 410, the example instructions 1500 may be implementedusing external processing resources such as cloud computing or any otherexternal computing resources.

In block 1502, the processor 410 receives weld information, such as aWPS, equipment information, workpiece information and/or any otherinformation describing the weld operation. The processor 410 may receivethe weld information via the communications interface and/or via userinput.

In block 1504, the camera(s) 414 capture image(s) of the weld scene. Inblock 1506, the processor 410 processes the images to identify objectsrelated to the weld. For example, the processor 410 may identify theworkpiece (e.g., one or more pieces to be welded), a weld torch, anelectrode wire, and/or any other objects in the images of the weldscene.

In block 1508, the processor 410 analyzes the alignment of the objectsto be welded. For example, the processor 410 may identify the outline(s)of the pieces to be welded and compare the positions of the pieces basedon the outline(s). For example, if a surface of a first piece to bewelded is abutting an incorrect surface of a second piece to be welded,the processor 410 may identify that the orientation of identified edges,surfaces, and/or cross-sections of the first and second pieces do notmatch the weld information.

In block 1510, the processor 410 measures gap(s) present between thepieces to be welded. In block 1512, the processor 410 measures electrodewire size based on the image. For example, the processor 410 may use areference to determine measurements of distance, and apply themeasurements to one or more gaps between pieces to be welded and/or todetermine the electrode wire size. Example references include markershaving known sizes, orientations, and/or spacing in the image, and/or aknown distance between multiple image sensors (e.g., stereoscopic imagesensors). From the reference(s), the processor 410 can measure thegap(s) and/or electrode wire sizes. In some examples, the measurementsmay be determined from stereoscopic images taken by the camera(s) 414.The example electrode wire may be identified for measurement based onperforming edge detection and/or other image processing techniques onthe image to identify a welding gun and the electrode wire in proximity.

Additionally or alternatively, the processor 410 identifies and verifiesacceptable weld conditions and/or unacceptable weld conditions such as:whether the appropriate welding tool (e.g., torch) is identified;whether identified welding consumable(s) matches the consumable(s) thatare specified in a WPS (e.g., based on matching an identification code,such as a QR code, with a code specified in the WPS); whether there is aproper fixture engagement of workpiece (e.g., if work clamp(s) areengaged, whether tack welds exist and/or are in the correct pattern(s)and/or location(s)); whether a voltage sense lead is connected; whetherthe contact tip and/or nozzle are in acceptable condition; whether theworkpiece surface has been properly cleaned in accordance with a WPS(e.g., based on color); whether the workpiece fit-up (e.g., gap betweenparts) is within a tolerance window, and/or any other visuallyidentifiable weld condition.

In block 1514, the processor 410 compares the measured characteristics(e.g., alignment, gap sizes, electrode wire sizes, etc.) to the weldinformation (e.g., from the WPS). In block 1516, the processor 410determines whether a discrepancy is detected between the measuredcharacteristics and the weld information. For example, the processor 410may determine whether the workpieces are out of alignment by more thanthreshold, whether any gaps are larger than is permissible, and/orwhether the electrode wire size is incorrect, based on the weldinformation for the weld to be performed.

If the processor 410 detects any discrepancies (block 1516), in block1518 the processor 410 generates a pre-weld alert signal. The pre-weldalert signal may be displayed via the display 304, output via thespeaker driver 412, and/or communicated to the equipment 12 via thecommunications interface 406. In block 1520, the processor 410 disables(e.g., prevents) the weld by communicating a disable signal to theequipment via the communications interface 406. In some examples, thepre-weld alert signal serves as the disable signal to the equipment 12.While the weld is disabled, a pull of the weld torch trigger by the userdoes not result in an arc start. In some examples, the weld is disableduntil another pre-weld inspection is passed, or the weld is manuallyenabled by the operator and/or a supervisor.

If the processor 410 does not detect any discrepancies (block 1516), inblock 1522 the processor 410 enables the weld. For example, theprocessor 410 provides an enable signal to the equipment 12. In someexamples, the weld is enabled until the processor 410 sends a disablesignal.

After disabling the weld (block 1520) or enabling the weld (block 1522),the example instructions 1500 end.

FIG. 16 is a flowchart representative of example machine readableinstructions 1600 which may be executed to implement the exampleheadwear 20 of FIGS. 3A-4B to perform a post-weld inspection of a weldscene. While the example instructions 1600 are described with referenceto the processor 410, the example instructions 1600 may be implementedusing external processing resources such as cloud computing or any otherexternal computing resources.

In block 1602, the processor 410 receives weld information, such as aWPS, equipment information, workpiece information and/or any otherinformation describing the weld operation. The processor 410 may receivethe weld information via the communications interface and/or via userinput.

In block 1604, the camera(s) 414 capture image(s) of the weld scene. Inblock 1606, the processor 410 processes the images to identify objectsrelated to the weld. For example, the processor 410 may identify theworkpiece (e.g., one or more pieces to be welded), a weld torch, anelectrode wire, and/or any other objects in the images of the weldscene.

In block 1608, the processor 410 identifies hole(s) and/or crack(s)present in the completed weld. For example, the processor 410 mayidentify holes and/or cracks based on identifying colors and/or shapesin the weld bead that are substantially different than the surroundingweld bead. In block 1610, the processor 410 identifies burn-throughpresent in the completed weld. For example, the processor 410 mayidentify burn-through by analysis of the images using burn-throughshapes and/or colors based on the material.

In block 1612, the processor 410 identifies the weld geometry. Forexample, the processor 410 may analyze the path of the completed weldbead to determine the size of the weld and/or the length of the weld. Inblock 1614, the processor 410 identifies the placement of the weld. Forexample, the processor 410 may determine whether the workpiece waswelded at a correct location and/or whether spot welds were properlyplaced. The processor 410 may use reference points to determinemeasurements of distance, and apply the measurements to analyze the weldgeometry and/or placement. In some examples, the measurements may bedetermined from stereoscopic images taken by the camera(s) 414.

In block 1616, the processor 410 determines whether any discrepanciesbetween the measured characteristics and the weld information aredetected. For example, the processor 410 may determine whether there areany holes, cracks, and/or burn-through present, if the weld geometry isoutside of a threshold acceptable geometry, and/or if the weld wasimproperly located. If discrepancies are identified (block 1616), inblock 1618 the processor 410 generates a post-weld alert signal. Thepost-weld alert signal may be displayed via the display 304, output viathe speaker driver 412, and/or communicated to the equipment 12 and/orto a weld monitoring server via the communications interface 406.

On the other hand, if no discrepancies are identified (block 1616), inblock 1620 the processor 410 approves the weld. The processor 410 maysend a weld approval signal to the equipment and/or to a weld monitoringserver.

After generating the post-weld alert signal (block 1618), or afterapproving the weld (block 1620), the example instructions 1600 end.

FIG. 17 illustrates another example of the welding system 10 in which anoperator 18 is wearing welding headwear 20 and welding workpieces 24 aand 24 b using the torch 22 to which power or fuel is delivered byequipment 12 via a conduit 14. In the example of FIG. 17, the camera(s)414 may be used for operator identification. For example, the operatormay face the camera and may be logged into the welding system by facialrecognition software analyzing the facial features of the operator andcompare it with a database of authorized operators for particularequipment or for a particular weld job. A qualification record of theoperator may be automatically checked for presence and expiration.Similarly, when the operator is wearing the helmet, the camera maycapture identifying features (e.g., information tags or high contrastmarkers 50) of welding gun, power source, consumables such as gas andwire, etc. Image processing software may log in the proper gun,consumables, etc. for the weld job and check against a WPS (weldprocedure specification) for mistakes. The markers 50 could be, forexample, barcodes or QR codes printed on the packaging of the weldingconsumables (e.g., QR code 50 b on the spool 52 and QR code 50 c on gascylinder 54) so that proper consumables can be identified forconformance to WPS prior to welding. Another example is that a QR code50 g on the operator gloves can be used to log in the operator to thewelding system and the operator credentials (his/her WPQ) are verifiedand accepted. Another example is that a QR code near the joint (e.g. QRcode 50 d) is used to identify the weld number within a weldmentassembly so that the proper weld sequence can be enforced and the weldprocedure for that particular joint can be recalled or set automaticallyby the welding equipment 12. Alternatively, high contrast markers can beprinted on stickers or pre-etched on the workpieces 24 a and 24 b (e.g.,marker strips 50 e, and 500 and welding gun (e.g., marker 50 a) to trackgun position, orientation and motion relative to the seam. Informationsuch as gun travel speed, gun orientation relative to the joint (i.e.torch angle and travel angle) and wire placement relative to the centerof the joint can be extracted from image processing. The marker 50 a, 50e, and 50 f may, for example, be printed with near-infrared reflectiveink or pigments so that they are more visible under the bright arcconditions if the imager of the camera is sensitive to IR but rejectsvisible arc spectrum. In yet another example, operator 18 may look atthe spool 52 and the camera 414 in the headwear 20 can capture the imageof wire spool 52 and the corresponding image processing will determineif the spool is low on wire and needs replenishment. Similarly, operator18 may hold the torch 22 close to the helmet and visually inspect thefront end of the torch 22 for the Third Eye camera to capture the tipand the nozzle conditions. The corresponding image processing willdetermine if the tip or the nozzle need to be changed based on apredetermined criteria. Another example is, after welding, operator 18may visually inspect the weld he/she just completed. The Third Eyecamera may automatically capture the image of the weld and compute theactual length, width, bead shape and exterior defects or discontinuitiesof the weld and compare the measurements with the quality criteria forvisual acceptance. Missing weld, oversized weld, undersized weld or poorquality weld can be automatically flagged in the system. Operator 18 maybe notified on the spot via speaker driver 412.

FIG. 18 illustrates another example welding headwear 20 includingelectromagnetic shielding 1810, a light source 1812, and solar cells1814. The example headwear 20 further includes the optical components302, the display 304, the user interface components 308, the antenna402, the camera(s) 414, the sensors 422, the power source 424, and thePCB 430.

The shielding 1810 may be positioned to shield the wearer fromelectromagnetic emissions from the antenna 402 and other electroniccomponents of the headwear 20.

The light source 1812 may include, for example, a super bright LED arrayto help illuminate the weld scene. To conserve battery, controlcircuitry may activate the light source 312 only it is determined thatadditional lighting would be beneficial (e.g., when the brightness ofthe weld scene without the additional lighting is beyond thecapabilities of the camera(s) 414, such as before the arc is lit).Additionally, or alternatively, the light source may be activated anddeactivated by an operator interface, such as a voice command, upon pullof the trigger of the welding torch, etc.

FIG. 19 is a flowchart illustrating a process 1900 for automaticexposure control. The example method 1900 may be performed by theheadwear 20 of FIGS. 3A-4B and/or 18.

In block 1902, the camera(s) 414 are ready to capture an image. In block1904, circuitry of the headwear 20 determines whether a welding arc willbe present when the image is captured.

If the arc will be present, then in block 1906 a relatively shorterexposure time, and first set of image processing parameters andalgorithms, are used to reveal the details of the dark areas such asjoint and wire extension. The first set of image processing parametersmay comprise, for example, relatively more aggressive image compressionand digital image filtering of the bright scene.

Returning to block 1904, if the arc will not be present during the imagecapture, longer exposure can be used together with a second set imageprocessing parameters and algorithms may be used. The second set ofimage processing parameters and algorithms may comprise, for example,relatively less aggressive image compression ratio and digital imagefiltering for the dark scene.

In block 1910 the image is captured using the exposure and parametersand algorithms determined in either block 1906 or 1908 and then theprocess returns to block 1902 for the next capture.

Returning to block 1904, there are a variety of ways in which it may bedetermined whether the arc will be present during the capture. In anexample implementation, arc signals (e.g., communicated to the headwear20 from equipment 12) may be used as a feed forward signal to adapt theexposure time. For example, if the arc voltage sensed (not including thewelding cable voltage and electrode stickout voltage) is greater than14V, it may be determined that an arc is present and will likely remainpresent for the impending image capture.

In another example implementation, rather than predicting merely thepresence or absence of the arc, brightness of the arc may be predictedand used for adapting the exposure time and/or image processingparameters. For example, the level of arc voltage or arc current (or theproduct of voltage and current which is the arc power) can be used topredict the brightness of the scene and choose exposure and imageprocessing parameters and algorithms accordingly. This is useful notonly during arc start and stop, but in welding process where the arcbrightness changes quickly, (e.g., in 20 Hz to 250 Hz frequency), suchas in pulse welding and short circuiting welding.

FIG. 20 is a state diagram illustrating example operation of weldingheadwear in accordance with aspects of this disclosure. The headwear 20may power up in state 2002 in which circuitry such as the circuitryresiding on PCB 430 is in a power save state. While in state 2002, thecamera(s) 414 may not be capturing photos, the communication interface406 may not be transmitting or receiving any data, etc. While theheadwear 20 is in the power save mode, a photodiode of sensor(s) 422 maymonitor light incident on it to detect the presence of a welding arc.Upon sensing the presence of a welding arc, the photodiode generates aninterrupt which triggers a transition from state 2002 to state 2004. Instate 2004, circuitry which was in a power save mode in state 2002 isawakened. For example, the camera(s) 414 may start capturing video, theGPU 418 may process the video, and the communication interface 406 maystart streaming the video wireles sly with P2P networking such that theyvideo may be displayed in a web browser of a device nearby. When thephotodiode detects that the arc is extinguished, it may triggercircuitry to do transition back to power save mode (including doing some“housekeeping” such as storing state information to memory, etc. andthen the system returns to state 2002.

FIGS. 21A and 21B illustrate an example of capturing an image of a weldenvironment 2100 during a short circuit condition of a weldingoperation. The example of FIGS. 21A and 21B may be performed by theexample headwear 20 of FIGS. 3A-4C to capture images of the weldingenvironment during a welding operation. For example, the headwear 20 mayuse low-cost optical sensors or cameras (e.g., the camera(s) 414) thatdo not rely on techniques such as HDR, WDR, MDR, ToF sensing, or anyother techniques used to capture images while an electrical arc ispresent.

Referring to FIG. 21A, the example weld environment 2100 includes aworkpiece 2102 which is being welded during an ongoing weldingoperation. In the welding operation, a torch 2104 is feeding anelectrode wire 2106 to the welding operation, and an electrical arc 2108that has a high brightness is present between the electrode wire 2106and the workpiece 2102. Due to the high brightness of the arc 2108,images captured of the weld environment 2100 during the presence of thearc 2108 may not show the weld puddle or other features of interest inthe weld environment 2100 without the use of HDR and/or other techniquesas described above.

Referring to FIG. 21B, the welding operation of FIG. 21A has experienceda short circuit condition in which the electrode wire 2106 makes directcontact with the weld puddle 2112 and/or the workpiece 2102. As aresult, the electrical arc 2106 is extinguished (e.g., temporarily) andcurrent flows directly from the electrode wire 2106 to the weld puddle2112. Because the electrical arc 2106 is not present, the weldenvironment 2100 has a lower brightness difference between differentelements in the weld environment 2100, and images of the weldenvironment 2100 can be captured using lower-dynamic-range imagetechniques.

The example processor 410 of the headwear 20 identifies the time periodsin which short circuit conditions are present in the welding operationand, during the identified time periods, captures images via thecamera(s) 414. The images may be displayed to the wearer of the headwear20 (e.g., on the display 304), overlaid with one or more simulatedobjects, stored, and/or transmitted for remote viewing, as describedherein.

In some examples, the processor 410 identifies the time periods duringwhich the short circuit conditions are present by receiving one or moresignals from the sensor(s) 422 and/or the camera(s) 414 (e.g.,brightness values) and/or by receiving data from the equipment 12 viathe communications interface 406. Example data that may be received fromthe equipment 12 includes measured voltage and/or current values outputby the power supply and/or the wire feeder, and/or an operating mode ofthe power supply indicating that the power supply is operating based ona short circuit condition. For example, if the processor 410 receiveswelding variable values from the equipment 12 that indicates a shortcircuit condition (e.g., a drop in voltage and/or an increase in currentto threshold levels), the processor 410 causes the camera(s) 414 tocapture one or more image(s).

In some examples, the processor 410 receives an identification that acontrolled short circuit process is being used. Based on the controlledshort circuit process and/or weld variable data provided by theequipment, the example processor 410 predicts times at which the shortcircuit is present and captures images at the predicted time(s). In someexamples, the processor 410 transmits a signal to command the equipment12 to cause a short circuit condition at a particular time.

FIG. 22 is a flowchart representative of example machine readableinstructions 2200 which may be executed by the processor 410 of FIGS.3A-4C to capture an image of a weld environment (e.g., the weldenvironment 2100 of FIGS. 21A-21B) during a short circuit condition of awelding operation.

At block 2202, the example processor 410 of FIGS. 3A-4C determineswhether a welding operation is occurring. If a welding operation is notoccurring (block 2202), control returns to block 2202 to await a weldingoperation.

If a welding operation is occurring (block 2202), at block 2204 theprocessor 410 receives one or more sensor value(s) from the sensor(s)422 and/or the camera(s) 414. For example, the sensor value(s) mayinclude a brightness (e.g., luminance) value of an environment aroundthe headwear 20.

At block 2206, the processor 410 determines whether the sensor value(s)indicate a low light intensity condition. A low light intensitycondition may occur during a short circuit (e.g., the arc isextinguished) and/or during a low-current condition. In some examples, alow light intensity condition may be determined in a similar oridentical manner as an automatically- dimming welding visor determines acondition to reduce a dimming effect. For example, if the brightnessvalues are greater than a threshold brightness value indicating an arcis present, the processor 410 may determine that a low light intensitycondition does not exist.

If the sensor value(s) do not indicate a low light intensity condition(block 2206), at block 2208 the processor 410 determines whether a lowlight intensity condition indication has been received from a weldingdevice. For example, the processor 410 may determine whether a voltagevariable, a current variable, and/or any other signal or data has beenreceived (e.g., from the equipment 12 and/or via the communicationsinterface 406) that indicates that a low light intensity condition ispresent. Example indications of a low light intensity condition includea voltage change measurement (e.g., a threshold voltage drop in a timeperiod) and/or an arc voltage measurement that is less than a threshold(e.g., less than 14V). In some examples in which a controlled shortcircuit weld process is being used, the processor 410 may receiveinformation identifying the frequency of the short circuit processand/or a waveform of the controlled short circuit process. The processor410 may use the frequency and/or waveform information to predict thetimes at which the short circuit conditions occur during the weldingoperation.

If a short circuit condition indication has not been received (block2208), at block 2210, the processor 410 determines whether a low lightintensity request is to be transmitted (e.g., to cause a short circuitin the welding operation). For example, the processor 410 may request alow light intensity condition to provide an opportunity to captureimage(s) if no images have been captured for at least a threshold timeperiod. In some other examples, a low light intensity condition may berequested in response to another condition, such as detecting an anomalyin the welding operation and/or other condition. The example low lightintensity request may be formatted to cause a power supply and/or a wirefeeder to cause a low light intensity condition by, for example,temporarily increasing a wire feed speed and/or temporarily reducing aweld voltage or weld current (e.g., less than 50 amperes) to reduce anlight intensity from the arc. The example weld equipment 12 may respondto the low light intensity request by briefly reducing current in theweld cable by, for example, sinking current output by an inverter todivert the current from the weld cable. The current diversion causes arapid inverse spike in the weld cable current, which reduces theintensity of the arc light and enables capture of one or more images bythe camera(s) 414. If there are no data or communications that indicatethat a low light intensity condition exists (blocks 2206-2210), controlreturns to block 2202.

If the sensor value(s) indicate a low light intensity condition (block2206), if a low light intensity condition indication has been received(block 2208), and/or if a low light intensity request is transmitted(block 2210), at block 2212 the processor synchronizes the camera(s) 414with a low light intensity condition based on the sensor value(s), thereceived low light intensity condition indication, and/or the low lightintensity request. For example, the processor 410 may determine, basedon sensor values, that a low light intensity condition has already begunand/or currently exists (e.g., there is a short circuit occurring basedon a brightness sensor value, and the image(s) should be capturedimmediately). Additionally or alternatively, the processor 410 maypredict a present and/or future low light intensity condition based onreceived low light intensity indications and/or low light intensityrequests. For example, the processor 410 may use the frequency and/orwaveform information to predict the times at which the low lightintensity conditions occur during the welding operation.

At block 2214, the processor 410 controls the camera(s) 414 to captureone or more image(s) during the time period of the short circuitcondition. In some examples, the processor 410 controls an illuminationdevice, such as a light emitting diode (LED) or other light source, toilluminate the area for which images are being captured. When using theillumination source, in some examples the processor 410 turns off theillumination source when not capturing images to conserve energy.

At block 2216, the processor 410 verifies the captured image(s) todetermine that the images have suitable brightness and/or contrastcharacteristics for viewing and/or analysis. At block 2218, theprocessor 410 determines whether usable image(s) have been captured. Ifno usable images have been captured (e.g., due to interference or anincorrectly calculated time period) (block 2218), control returns toblock 2202.

If usable images have been captured (block 2218), at block 2220 theprocessor 410 processes the image(s) to determine characteristics of thewelding operation (e.g., as described herein). At block 2222, theprocessor 410 overlays the image(s) (e.g., using simulated objects),displays the image(s) (e.g., on the display 304, with or without thesimulated objects), stores the image(s), and/or transmits the image(s),as described herein. Control returns to block 2202 to continue capturingimages during low light intensity conditions while the welding operationis ongoing.

The present methods and systems may be realized in hardware, software,and/or a combination of hardware and software. The present methodsand/or systems may be realized in a centralized fashion in at least onecomputing system, or in a distributed fashion where different elementsare spread across several interconnected computing systems. Any kind ofcomputing system or other apparatus adapted for carrying out the methodsdescribed herein is suited. A typical combination of hardware andsoftware may include a general-purpose computing system with a programor other code that, when being loaded and executed, controls thecomputing system such that it carries out the methods described herein.Another typical implementation may comprise one or more applicationspecific integrated circuit or chip. Some implementations may comprise anon-transitory machine-readable (e.g., computer readable) medium (e.g.,FLASH memory, optical disk, magnetic storage disk, or the like) havingstored thereon one or more lines of code executable by a machine,thereby causing the machine to perform processes as described herein. Asused herein, the term “non-transitory machine-readable medium” isdefined to include all types of machine readable storage media and toexclude propagating signals.

While the present method and/or system has been described with referenceto certain implementations, it will be understood by those skilled inthe art that various changes may be made and equivalents may besubstituted without departing from the scope of the present methodand/or system. In addition, many modifications may be made to adapt aparticular situation or material to the teachings of the presentdisclosure without departing from its scope. For example, blocks and/orcomponents of disclosed examples may be combined, divided, re-arranged,and/or otherwise modified. Therefore, it is intended that the presentmethod and/or system not be limited to the particular implementationsdisclosed, but that the present method and/or system will include allimplementations falling within the scope of the appended claims.

As utilized herein the terms “circuits” and “circuitry” refer tophysical electronic components (i.e. hardware) and any software and/orfirmware (“code”) which may configure the hardware, be executed by thehardware, and or otherwise be associated with the hardware. As usedherein, for example, a particular processor and memory may comprise afirst “circuit” when executing a first one or more lines of code and maycomprise a second “circuit” when executing a second one or more lines ofcode. As utilized herein, “and/or” means any one or more of the items inthe list joined by “and/or”. As an example, “x and/or y” means anyelement of the three-element set {(x), (y), (x, y)}. In other words, “xand/or y” means “one or both of x and y”. As another example, “x, y,and/or z” means any element of the seven-element set {(x), (y), (z), (x,y), (x, z), (y, z), (x, y, z)}. In other words, “x, y and/or z” means“one or more of x, y and z”. As utilized herein, the term “exemplary”means serving as a non-limiting example, instance, or illustration. Asutilized herein, the terms “e.g.,” and “for example” set off lists ofone or more non-limiting examples, instances, or illustrations. Asutilized herein, circuitry is “operable” to perform a function wheneverthe circuitry comprises the necessary hardware and code (if any isnecessary) to perform the function, regardless of whether performance ofthe function is disabled or not enabled (e.g., by a user-configurablesetting, factory trim, etc.).

The present methods and/or systems may be realized in hardware,software, or a combination of hardware and software. The present methodsand/or systems may be realized in a centralized fashion in at least onecomputing system, or in a distributed fashion where different elementsare spread across several interconnected computing systems. Any kind ofcomputing system or other apparatus adapted for carrying out the methodsdescribed herein is suited. A typical combination of hardware andsoftware may be a general-purpose computing system with a program orother code that, when being loaded and executed, controls the computingsystem such that it carries out the methods described herein. Anothertypical implementation may comprise an application specific integratedcircuit or chip. Some implementations may comprise a non-transitorymachine-readable (e.g., computer readable) medium (e.g., FLASH drive,optical disk, magnetic storage disk, or the like) having stored thereonone or more lines of code executable by a machine, thereby causing themachine to perform processes as described herein.

While the present method and/or system has been described with referenceto certain implementations, it will be understood by those skilled inthe art that various changes may be made and equivalents may besubstituted without departing from the scope of the present methodand/or system. In addition, many modifications may be made to adapt aparticular situation or material to the teachings of the presentdisclosure without departing from its scope. Therefore, the presentmethod and/or system are not limited to the particular implementationsdisclosed. Instead, the present method and/or system will include allimplementations falling within the scope of the appended claims, bothliterally and under the doctrine of equivalents.

What is claimed is:
 1. A method to perform an inspection of a weldenvironment, the method comprising: receiving, at a processor of a headmounted device, a first characteristic of a weld to be performed on aworkpiece; capturing, using an optical sensor of the head mounteddevice, an image of a weld scene including the workpiece; measuring,using the processor, a second characteristic of the weld to be performedby analyzing the image of the weld scene; determining, using theprocessor, whether a difference between the first characteristic and thesecond characteristic satisfies a threshold; and when the differencesatisfies the threshold, outputting an alert via a display device of thehead mounted device identifying a discrepancy between the weld to beperformed and the weld scene.
 2. The method as defined in claim 1,wherein the first characteristic comprises an alignment of a pluralityof objects making up the workpiece, the measuring of the secondcharacteristic comprising identifying outlines of the plurality ofobjects and comparing alignments of the outlines to the alignment of theplurality of objects in the first characteristic.
 3. The method asdefined in claim 1, wherein the first characteristic comprises a firstgap between a plurality of objects making up the workpiece, themeasuring of the second characteristic comprising: calibrating distancemeasurements for the image using a distance reference; and measuring asecond gap between the plurality of the objects in the workpiece in theimage by processing the image of the weld scene, the analyzing of theimage of the weld scene comprising processing the image to identify theplurality of the objects.
 4. The method as defined in claim 1, whereinthe first characteristic comprises a wire electrode size between aplurality of objects making up the workpiece, the measuring of thesecond characteristic comprising: calibrating distance measurements forthe image using a distance reference; processing the image to identifyan electrode wire; and measuring a second electrode wire size of theidentified electrode wire based on the distance reference.
 5. The methodas defined in claim 1, wherein the head mounted device comprises atleast one of a welding helmet or a mobile device.
 6. The method asdefined in claim 1, further comprising, when the difference satisfiesthe threshold, transmitting a signal to cause a power supply to preventoutputting weld current.
 7. The method as defined in claim 6, furthercomprising: capturing a second image of the weld scene including theworkpiece; measuring a third characteristic of the weld to be performedby analyzing the second image of the weld scene, the thirdcharacteristic corresponding to the second characteristic; determiningwhether a second difference between the first characteristic and thethird characteristic satisfies the threshold; and when the seconddifference satisfies the threshold, transmitting a second signal tocause the power supply to enable outputting of the weld current.
 8. Awearable device, comprising: a display device; an optical sensor; aprocessor; and a storage device comprising machine readable instructionswhich, when executed by the processor, to cause the processor to: accessa first characteristic of a weld to be performed on a workpiece;capture, using the optical sensor, an image of a weld scene includingthe workpiece; measure a second characteristic of the weld to beperformed by analyzing the image of the weld scene; determine whether adifference between the first characteristic and the secondcharacteristic satisfies a threshold; and when the difference satisfiesthe threshold, output an alert via the display device identifying adiscrepancy between the weld to be performed and the weld scene.
 9. Thewearable device as defined in claim 8, wherein the first characteristiccomprises an alignment of a plurality of objects making up theworkpiece, the instructions to cause the processor to measure the secondcharacteristic by identifying outlines of the plurality of objects andcomparing alignments of the outlines to the alignment of the pluralityof objects in the first characteristic.
 10. The wearable device asdefined in claim 8, wherein the first characteristic comprises a firstgap between a plurality of objects making up the workpiece, theinstructions to cause the processor to measure the second characteristicby: calibrating distance measurements for the image using a distancereference; and measuring a second gap between the plurality of theobjects in the workpiece in the image by processing the image of theweld scene, the instructions to cause the processor to analyze the imageof the weld scene by processing the image to identify the plurality ofthe objects.
 11. The wearable device as defined in claim 8, wherein thefirst characteristic comprises a wire electrode size between a pluralityof objects making up the workpiece, the instructions to cause theprocessor to measure the second characteristic by: calibrating distancemeasurements for the image using a distance reference; processing theimage to identify an electrode wire; and measuring a second electrodewire size of the identified electrode wire based on the distancereference.
 12. The wearable device as defined in claim 8, wherein thewearable device comprises at least one of a welding helmet or a mobiledevice.
 13. The wearable device as defined in claim 8, furthercomprising a communications device to, when the difference satisfies thethreshold, transmit a signal to cause a welding power supply to preventoutputting of weld current.
 14. The wearable device as defined in claim13, where the instructions are further to cause the processor to:capture a second image of the weld scene including the workpiece;measure a third characteristic of the weld to be performed by analyzingthe second image of the weld scene, the third characteristiccorresponding to the second characteristic; determine whether a seconddifference between the first characteristic and the third characteristicsatisfies the threshold; and when the second difference satisfies thethreshold, transmit a second signal via the communications device tocause the power supply to enable the outputting of the weld current. 15.A non-transitory machine readable medium comprising machine readableinstructions which, when executed, cause a processor of a wearabledevice to: access a first characteristic of a weld to be performed on aworkpiece; capture, using an optical sensor of the wearable device, animage of a weld scene including the workpiece; measure a secondcharacteristic of the weld to be performed by analyzing the image of theweld scene; determine whether a difference between the firstcharacteristic and the second characteristic satisfies a threshold; andwhen the difference satisfies the threshold, output an alert, via adisplay device of the wearable device, identifying a discrepancy betweenthe weld to be performed and the weld scene.
 16. The machine readablemedium as defined in claim 15, wherein the first characteristiccomprises an alignment of a plurality of objects making up theworkpiece, the instructions to cause the processor to measure the secondcharacteristic by identifying outlines of the plurality of objects andcomparing alignments of the outlines to the alignment of the pluralityof objects in the first characteristic.
 17. The machine readable mediumas defined in claim 15, wherein the first characteristic comprises afirst gap between a plurality of objects making up the workpiece, theinstructions to cause the processor to measure the second characteristicby: calibrating distance measurements for the image using a distancereference; and measuring a second gap between the plurality of theobjects in the workpiece in the image by processing the image of theweld scene, the instructions to cause the processor to analyze the imageof the weld scene by processing the image to identify the plurality ofthe objects.
 18. The machine readable medium as defined in claim 15,wherein the first characteristic comprises a wire electrode size betweena plurality of objects making up the workpiece, the instructions tocause the processor to measure the second characteristic by: calibratingdistance measurements for the image using a distance reference;processing the image to identify an electrode wire; and measuring asecond electrode wire size of the identified electrode wire based on thedistance reference.
 19. The machine readable medium as defined in claim15, wherein the wearable device comprises at least one of a weldinghelmet or a mobile device.
 20. The machine readable medium as defined inclaim 15, where the instructions are further to cause the processor to,when the difference satisfies the threshold, transmit a signal to causea welding power supply to prevent outputting of weld current.